Robust distributed consensus tracking control for high‐order uncertain nonlinear MASs with directed topologies

Abstract

This paper addresses the robust distributed consensus tracking problem for leader-follower multi-agent systems (MASs) with nonlinear dynamics and external disturbances under directed graph topologies. The nonlinear uncertainties are not required to be continuous or meet the matching conditions. The backstepping design method combined with signal compensation approach is proposed to design robust controllers in order to guarantee the consensus tracking property between the followers and the one leader. Moreover, the dynamic surface control technique is used to deal with the 'explosion of complexity' problem. It is proven that the robust distributed consensus tracking property of the MASs can be guaranteed. Furthermore, the consensus tracking errors can be designed as small as required and the convergence speed can be chosen arbitrarily. Finally, two examples are presented to show the validity of the proposed consensus tracking control protocols.

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

“…Gao and Huang [15] studied the leader‐following consensus problem for uncertain strict‐feedback multi‐agent systems subject to sensor and actuator attacks by backstepping and Nussbaum gain approaches. Liu et al [16] addressed the consensus tracking problem for nonlinear strict‐feedback multi‐agent systems with external disturbances by backstepping and dynamic surface control methods. By introducing a local compensatory variable, Huang et al [17] solved the leader‐following and leader‐less consensus control problem of strict‐feedback nonlinear multi‐agent systems in a unified way.…”

Bipartite consensus tracking for antagonistic topologies with leader's unknown input

“…Over the two decades, cooperative control problems of multiagent systems (MASs) have been studied in various aspects, wherein the consensus is a foundation stone and has been researched by scholars in every fields, such as the consensus of integrators as reported in [1][2][3][4][5][6]. More general and practical works of general linear MASs and nonlinear MASs can be found in [7][8][9][10][11][12][13][14][15][16][17][18][19][20].…”

Backstepping and Synergetic Controllers for the Chemotherapy of Brain Tumor

“…Backstepping is a recursive technique used to design controller for nonlinear systems in strict feedback form [7][8][9]. It divides the a big system into smaller sub-systems and design the controller for each sub-system while ensuring asymptotic stability of the system at each step; eventually finding the external control input to stabilize the whole system [10].…”