Distributed adaptive control for nonlinear multi-agent systems

This paper investigates the distributed tracking problems for nonlinear multi-agent systems with unknown parameters and unknown nonlinear functions. Under the assumption that the leader is the root of a spanning tree, distributed adaptive controllers with tuning functions are constructed recursively...

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Bibliographic Details
Main Authors: Li, Wuquan, Gu, Jianzhong
Format: Conference Proceeding
Language:English
Subjects:
Adaptive
Adaptive control
Closed loop systems
Conferences
Controllers
Design parameters
Distributed tracking
Graph theory
Lyapunov methods
Multi-agent systems
Multiagent systems
Nonlinear dynamical systems
Nonlinear multi-agent systems
Nonlinearity
Tracking errors
Tuning
Unknown parameters
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Description
Summary:This paper investigates the distributed tracking problems for nonlinear multi-agent systems with unknown parameters and unknown nonlinear functions. Under the assumption that the leader is the root of a spanning tree, distributed adaptive controllers with tuning functions are constructed recursively. The designed controllers can guarantee that the tracking errors eventually converge to the compact set which can be made as small as desired by an appropriate choice of the design parameters. Meanwhile, all the states in the closed-loop systems can be proved to be ultimately bounded. Finally, a simulation example is given to demonstrate the effectiveness of the design scheme.
ISSN:2161-2927
1934-1768
DOI:10.1109/ChiCC.2016.7554604