Adaptive Cooperative Tracking Control for Multiagent Systems with Input Saturation and Unknown Disturbances

Abstract

This paper investigates a consensus control protocol for a class of multi-agent systems (MASs) with unknown disturbances and input saturation. The subsidiary method is considered in controller to solve the problem of input saturation. The unknown nonlinear functions are estimated by radial basis function neural networks (RBF NNs). For the unknown external disturbances, the disturbance observer is designed. Besides, a consensus controller is designed by Lyapunov stability theory and backstepping technique to guarantees that all the signals are bounded. Finally, simulation result demonstrates the effectiveness of the proposed control approach.