Fully Distributed Adaptive Consensus Control of a Class of High-Order Nonlinear Systems With a Directed Topology and Unknown Control Directions

In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2018-08, Vol.48 (8), p.2349-2356
Main Authors: Huang, Jiangshuai, Song, Yongduan, Wang, Wei, Wen, Changyun, Li, Guoqi
Format: Article
Language:English
Subjects:
Adaptive control
Computer simulation
Consensus control
distributed coordination control
Graph theory
Graphical representations
high-order nonlinear systems
Multi-agent systems
Nickel
Nonlinear systems
Nussbaum function
Topology
Trajectory
unknown control directions
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Summary:In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2017.2737652