Adaptive Cooperative Control With Guaranteed Convergence in Time-Varying Networks of Nonlinear Dynamical Systems

In this paper, we investigate the adaptive cooperative control problem with guaranteed convergence for a class of nonlinear multiagent systems with unknown control directions and time-varying topologies. A key lemma is first derived which involves dynamically changing interaction topologies, and the...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2020-12, Vol.50 (12), p.5035-5046
Main Authors: Wang, Qingling, Psillakis, Haris E., Sun, Changyin
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control
Control algorithms
Control systems
Convergence
Cooperative control
Graph theory
Multi-agent systems
Multiagent systems
Network topologies
Network topology
Nonlinear agents
Nonlinear systems
Nussbaum-type function
Reciprocity
Time-varying systems
time-varying topologies
Topology
unknown control directions
Upper bounds
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Summary:In this paper, we investigate the adaptive cooperative control problem with guaranteed convergence for a class of nonlinear multiagent systems with unknown control directions and time-varying topologies. A key lemma is first derived which involves dynamically changing interaction topologies, and then a new kind of distributed control algorithms with Nussbaum-type functions are proposed based on this lemma. It is proven that if the topologies are time varying with integral weight uniform upper bound and reciprocity, then convergence is guaranteed with the proposed algorithms for nonlinear multiagent systems with nonidentical unknown control directions. An important feature of this paper is that, under time-varying topologies, the designed algorithms can deal with nonidentical unknown control directions by using classical Nussbaum-type functions. Moreover, with the proposed algorithms, we extend the adaptive cooperative control results to the case of \delta -connected graphs. In particular, the adaptive leaderless consensus of high-order nonlinear agents with nonidentical unknown control directions and a directed graph having a spanning tree is also tackled as a special case. Finally, theoretical results are illustrated by a group of Genesio-Tesi systems with distributed control algorithms under time-varying topologies and some special network topologies.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2019.2916563