Adaptive tracking control for nonlinear multi-agent systems with stuck failures and unknown control directions

The leader following distributed adaptive controller design problem for nonlinear multi-agent time-delay systems is investigated. The system is represented by a directed graph and is subject to failures, uncertain disturbances, and unknown control directions. The proposed method is based on dynamic...

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Bibliographic Details
Published in:Journal of the Franklin Institute 2024-09, Vol.361 (14), p.107059, Article 107059
Main Authors: Zamani, Najmeh, Askari, Javad, Kamali, Marzieh, Kalantari, Hamid, Aghdam, Amir
Format: Article
Language:English
Subjects:
Nonlinear multi-agent system
Stuck failure
Unknown control direction
Unknown time-varying delay
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Summary:The leader following distributed adaptive controller design problem for nonlinear multi-agent time-delay systems is investigated. The system is represented by a directed graph and is subject to failures, uncertain disturbances, and unknown control directions. The proposed method is based on dynamic surface control and the Nussbaum-type functions, aiming to compensate for the effects of unknown control directions while considering stuck failures. The main novelty of this study, in contrast to the previous literature, is to ensure consensus in multi-agent systems with unknown control directions and stuck failures. This leads to the use of the vector counterpart of the scalar Nussbaum-type function to guarantee the controllability of the underlying system. The semi-global stability and boundedness of the tracking errors to a neighborhood of the origin are substantiated mathematically. Simulations demonstrate the effectiveness of the results.
ISSN:0016-0032
DOI:10.1016/j.jfranklin.2024.107059