Distributed output regulation for a class of nonlinear multi-agent systems with unknown-input leaders

Abstract

In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains unknown inputs and its dynamics is different from those of the followers. Based on the conventional output regulation assumptions and graph theory, distributed feedback controllers are constructed to make the agents globally or semi-globally follow the uncertain leader even when the bound of the leader's inputs is unknown to the followers.

Event-triggered observer-based tracking control for leader-follower multi-agent systems

“…Leader-follower consensus is one of the most interesting behaviors which requires all followers will track the leader eventually. This issue has received the most attention and related results can be found in [4,6,11,19] and the references therein, to name a few.…”

Robust neural network control of robotic manipulators via switching strategy

“…Until now, there are many kinds of approaches for the trajectory tracking problem of robotic manipulators, e. g., the adaptive control [4,6,15], sliding mode control [17] and robust control [1,3,6,8,10,14,15,20]. As we know, a few results which are of practical interest on control synthesis of switched nonlinear systems have been introduced [3,10,14,16,19]. Therefore, how to use the robust tracking control scheme for the switching model of a serial n-joint robotic manipulator remains a challenging topic in the field of control.…”

“…The principal contribution described here are: (i) RBF neural networks are used as an approximator tool for modeling unknown nonlinear functions of an n-link robotic manipulators and a periodically switching signal is given; (ii) a compensation controller is introduced to enhance the robustness and keep bounded in the control system. Through switched multiple Lyapunov function method [10,16], it is proved that the resulting close-loop switched system is asymtopically stable and UUB such that the link position of robot system follows the any given bounded desired output signal. A simulation example is provided to illustrate the effectiveness and the feasibility of the proposed method.…”

Quantized distributed output regulation of multi-agent systems

“…Recently, distributed output regulation problem has been proposed with regarding some coordination problems as its special case as discussed in ( [7,11,14,15,16,17]). It is mainly about distributed feedback design for multi-agent systems to achieve asymptotically tracking and distributed disturbance rejection.…”