Distributed adaptive output feedback tracking control for a class of uncertain nonlinear multi-agent systems

Abstract

This paper addresses the distributed output feedback tracking control problem for multi-agent systems with higher order nonlinear non-strict-feedback dynamics and directed communication graphs. The existing works usually design a distributed consensus controller using all the states of each agent, which are often immeasurable, especially in nonlinear systems. In this paper, based only on the relative output between itself and its neighbours, a distributed adaptive consensus control law is proposed for each agent using the backstepping technique and approximation technique of Fourier series (FS) to solve the output feedback tracking control problem of multi-agent systems. The FS structure is taken not only for tracking the unknown nonlinear dynamics but also the unknown derivatives of virtual controllers in the controller design procedure, which can therefore prevent virtual controllers from containing uncertain terms. The projection algorithm is applied to ensure that the estimated parameters remain in some known bounded sets. Lyapunov stability analysis shows that the proposed control law can guarantee that the output of each agent synchronises to the leader with bounded residual errors and that all the signals in the closed-loop system are uniformly ultimately bounded. Simulation results have verified the performance and feasibility of the proposed distributed adaptive control strategy.

Distributed Output-Feedback Tracking for Stochastic Nonlinear Multiagent Systems With Time-Varying Delays

“…For single-agent systems, [21], [22] first designed homogeneous observers to estimate unmeasurable states, and then the output-feedback controller was designed to solve the tracking problem. For multi-agent systems, [23], [24] solved distributed output-feedback tracking problems for nonlinear systems. However, there are rare results on distributed output-feedback tracking control for stochastic systems with time-varying delay.…”

Neuro‐adaptive distributed output‐feedback containment control for multiagent systems with nonstrict‐feedback nonlinear dynamics and input constraints

“…The containment control problem is investigated for nonlinear strict‐feedback MASs with immeasurable states in Reference 49. A distributed adaptive output feedback tracking control solution for nonstrict‐feedback nonlinear MASs with unmeasurable states is developed in References 50,51. On the other hand, the input saturation is inevitable, because of the physical limitations in some practical MASs and its ignorance can cause performance deterioration or even instability.…”

Adaptive consensus for heterogeneous unknown nonlinear multi-agent systems with asymmetric input dead-zone: A finite-time approach

“…In primary studies (Cheng et al, 2011; Olfati-Saber and Murray, 2004; Ren, 2008), consensus problem for first- and second-order integrators has been extensively investigated. However, many practical systems have nonlinear dynamics that add much more complexity to coordinate control of MASs (Sarand and Karimi, 2016; Wang et al, 2017; Wen et al, 2014). On the other side, the vast majority of practical systems are described by second-order equations.…”