Fully Distributed Tracking Control of High-Order Nonlinear Multi-Agent Systems

Abstract

This paper studies the fully distributed tracking problem for high-order nonlinear multiagent systems (MASs) with directed graph. Unlike global Lipschitz condition, the nonlinear function we considered only needs to be a continuously differential one. A recursive state transformation and adaptive control technique are employed to design the tracking controllers. First, a discontinuous fully distributed tracking controller is developed for MASs. Under this controller, the follower agents track the leader agent asymptotically. Second, a continuous fully distributed tracking controller is purposely presented for MASs to avoid the chattering problem may caused by discontinuous controller. Finally, a numerical example is given to verify the effectiveness of those two fully distributed controllers. INDEX TERMS Multi-agent systems, fully distributed, tracking control, directed graph, nonlinear system.

Leader‐following consensus control of second‐order nonlinear multi‐agent systems with applications to slew rate control

“…Note that the boundedness of $$$ {x}_0 $$$ is a common assumption for the distributed control of nonlinear multi‐agent systems (see, e.g., previous studies [13, 14,16,20]).…”

“…In addition, the control laws designed in aforementioned works [5–7, 10, 17] used the eigenvalues of Laplacian matrix, which is global and not available to each agent. To avoid above three restrictions, other works [18–20] proposed distributed adaptive control laws for the leader‐following consensus problem of second‐order and high‐order integrator‐type nonlinear multi‐agent systems, respectively.…”

“…By using mean value theorem and variable separation technique, we transform the nonlinear functions of agent's own state into nonlinear functions of relative state. This allows us to design distributed control protocol that does not dependent on agent's own state information. Compared with other studies [18–20], where integrator type nonlinear multi‐agent systems were studied, we investigate a more general nonlinear multi‐agent systems in strict‐feedback form. The controller design is more challenging since virtual control laws need to be designed as nonlinear for systems in strict‐feedback form. Compared with other works [5–7,10,17], we construct a fully distributed control law without using any global information of Laplacian matrix.…”

“…• Compared with other studies [18][19][20], where integrator type nonlinear multi-agent systems were studied, we investigate a more general nonlinear multi-agent systems in strict-feedback form. The controller design is more challenging since virtual control laws need to be designed as nonlinear for systems in strict-feedback form.…”

Fully Distributed Event-Triggered Containment Control of Uncertain Multiagent Systems

“…Many researchers devoted to develop the fully distributed algorithms for MASs. Papers [25][26][27][28] presented some typical works of fully distributed algorithms. Recently, some researchers studied the fully distributed control problems of MASs via event-triggered approach as well.…”