Distributed Adaptive Dynamic Surface Control for Synchronization of Uncertain Nonlinear Multi-agent Systems

In this paper a distributed adaptive dynamic surface controller is proposed for multi-agent systems under fixed directed graph topologies. The agents have uncertain nonlinear dynamics and are influenced by bounded unknown disturbances. The controller should synchronize the states of all agents with...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2018, Automation, and Systems, 16(6), , pp.2733-2742
Main Authors: Tousi, Javad, Kamali, Marzieh, Izadi, Iman, Sheikholeslam, Farid
Format: Article
Language:English
Subjects:
Adaptive control
Automation
Control
Corresponding states
Design
Dynamical systems
Engineering
Graph theory
Mathematical functions
Mechatronics
Multiagent systems
Neural networks
Nonlinear dynamics
Nonlinear systems
Regular Papers
Robotics
Synchronism
제어계측공학
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Summary:In this paper a distributed adaptive dynamic surface controller is proposed for multi-agent systems under fixed directed graph topologies. The agents have uncertain nonlinear dynamics and are influenced by bounded unknown disturbances. The controller should synchronize the states of all agents with the corresponding states of the nonautonomous leader. It is proved that, with the proposed controller, the synchronization error remains bounded; and the bounds can be arbitrarily decreased by increasing the controller gains. The control rules are designed such that each agent only requires the state information of its neighbors, rendering a distributed control. The effectiveness of the proposed method is demonstrated through two simulation examples.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-018-0038-5