Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference

Jiangshuai HUANG; Yong-Duan SONG; Wei WANG; Changyun WEN; Guoqi LI

doi:10.1016/j.automatica.2017.06.025

Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference

Jiangshuai HUANG
, Yong-Duan SONG
, Wei WANG
, Changyun WEN
, Guoqi LI^*

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

102 Citations (Scopus)

Abstract

In this paper, we investigate the distributed adaptive leader-following consensus control for high-order nonlinear multi-agent systems with time-varying reference trajectory under directed topology subjected to mismatched unknown parameters and uncertain external disturbances. By introducing local estimators for the bounds of reference trajectory and a filter for each agent, a new backstepping based smooth distributed adaptive control protocol is proposed. It is shown that global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme.

Original language	English
Pages (from-to)	361-367
Number of pages	7
Journal	Automatica
Volume	83
Early online date	10 Jul 2017
DOIs	https://doi.org/10.1016/j.automatica.2017.06.025
Publication status	Published - Sept 2017
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2017 Elsevier Ltd

Funding

This paper was supported in part by technology transformation program of Chongqing higher education university (KJZH17102) and in part by the Fundamental Research Funds for the Central Universities under Project No. 106112017CDJXY170002.

Keywords

Adaptive control
Distributed coordination
Multi-agent systems
Time-varying reference

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10.1016/j.automatica.2017.06.025

Cite this

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title = "Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference",

abstract = "In this paper, we investigate the distributed adaptive leader-following consensus control for high-order nonlinear multi-agent systems with time-varying reference trajectory under directed topology subjected to mismatched unknown parameters and uncertain external disturbances. By introducing local estimators for the bounds of reference trajectory and a filter for each agent, a new backstepping based smooth distributed adaptive control protocol is proposed. It is shown that global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme.",

keywords = "Adaptive control, Distributed coordination, Multi-agent systems, Time-varying reference",

author = "Jiangshuai HUANG and Yong-Duan SONG and Wei WANG and Changyun WEN and Guoqi LI",

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doi = "10.1016/j.automatica.2017.06.025",

language = "English",

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T1 - Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference

AU - HUANG, Jiangshuai

AU - SONG, Yong-Duan

AU - WANG, Wei

AU - WEN, Changyun

AU - LI, Guoqi

PY - 2017/9

Y1 - 2017/9

N2 - In this paper, we investigate the distributed adaptive leader-following consensus control for high-order nonlinear multi-agent systems with time-varying reference trajectory under directed topology subjected to mismatched unknown parameters and uncertain external disturbances. By introducing local estimators for the bounds of reference trajectory and a filter for each agent, a new backstepping based smooth distributed adaptive control protocol is proposed. It is shown that global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme.

AB - In this paper, we investigate the distributed adaptive leader-following consensus control for high-order nonlinear multi-agent systems with time-varying reference trajectory under directed topology subjected to mismatched unknown parameters and uncertain external disturbances. By introducing local estimators for the bounds of reference trajectory and a filter for each agent, a new backstepping based smooth distributed adaptive control protocol is proposed. It is shown that global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme.

KW - Adaptive control

KW - Distributed coordination

KW - Multi-agent systems

KW - Time-varying reference

UR - https://www.scopus.com/pages/publications/85022087945

U2 - 10.1016/j.automatica.2017.06.025

DO - 10.1016/j.automatica.2017.06.025

M3 - Journal Article (refereed)

AN - SCOPUS:85022087945

SN - 0005-1098

VL - 83

SP - 361

EP - 367

JO - Automatica

JF - Automatica

ER -

Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference

Abstract

Bibliographical note

Funding

Keywords

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