Neuroadaptive Performance Guaranteed Control for Multiagent Systems With Power Integrators and Unknown Measurement Sensitivity

• Published in: IEEE transaction on neural networks and learning systems 2023-12, Vol.34 (12), p.9771-9782
• Main Authors: Liang, Hongjing, Du, Zhixu, Huang, Tingwen, Pan, Yingnan
• Format: Article
• Language: English
• Subjects: Adaptive control; Adaptive performance guaranteed control; Convergence; Exponential functions; Integrators; Mechanical systems; Multi-agent systems; Multiagent systems; Neural networks; Position errors; power integrators; Power measurement; Robot sensing systems; Sensitivity; Synchronization; Tracking control; unknown measurement sensitivity
• ISSN: 2162-237X; 2162-2388
• DOI: 10.1109/TNNLS.2022.3160532

This article investigates the adaptive performance guaranteed tracking control problem for multiagent systems (MASs) with power integrators and measurement sensitivity. Different from the structural characteristics of existing results, the dynamic of each agent is a power exponential function. A method called adding a power integrator technique is introduced to guarantee that the consensus is achieved of the MASs with power integrators. Different from existing prescribed performance tracking control results for MASs, a new performance guaranteed control approach is proposed in this article, which can guarantee that the relative position error between neighboring agents can converge into the prescribed boundary within preassigned finite time. By utilizing the Nussbaum gain technique and neural networks, a novel control scheme is proposed to solve the unknown measurement sensitivity on the sensor, which successfully relaxes the restrictive condition that the unknown measurement sensitivity must be within a specific range. Based on the Lyapunov functional method, it is proven that the relative position error between neighboring agents can converge into the prescribed boundary within preassigned finite time. Finally, a simulation example is proposed to verify the availability of the control strategy.