Adaptive Finite-Time Consensus Tracking for Nonstrict Feedback Nonlinear Multi-Agent Systems With Unknown Control Directions

Guoqing Liu,Jinpeng Yu,Lin Zhao

doi:10.1109/access.2019.2949071

Guoqing Liu, Jinpeng Yu + Show 1 more

Open Access

https://doi.org/10.1109/access.2019.2949071

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Abstract

This paper investigates the finite-time consensus tracking problem for nonstrict feedback nonlinear multi-agent systems with unknown dynamics and control directions. Firstly, the backstepping scheme based on command filter and fractional power control law is proposed, which can not only solve the problem of computational explosion, but also ensure that the state of each agent can follow the leader's output within a finite time. Then, the error compensation signals are designed to compensate the error caused by filtering. The unknown nonlinear dynamics are approximated by the fuzzy logic system. The state variables problem in the non-strict feedback system is well solved through the scaling of inequalities. By introducing the Nussbaum function, the intermediate input signal and control input signal based on adaptive control law are designed respectively, and the problem of unknown control directions is solved. Simulations are given to show the effectiveness of the presented method.

Highlights

The consensus control problem of multi-agent systems (MASs) has received many concerns since the extensive engineering applications for multi-unmanned boats, multiunmanned aircrafts, multi-sensor network and so on [1]–[4]
The responses of xi,1, i = 1, 2, 3 and r are shown in Fig.2, we can see that the closed-loop system has realized consensus tracking within a finite time the control directions is unknown and the system is a non-strict feedback
The overall tracking error OTE = [ε1,1, ε2,1, ε3,1]T is used to compare the consensus tracking performances with the command filtered backstepping subject to different control parameters

Summary

INTRODUCTION

The consensus control problem of multi-agent systems (MASs) has received many concerns since the extensive engineering applications for multi-unmanned boats, multiunmanned aircrafts, multi-sensor network and so on [1]–[4]. G. Liu et al.: Adaptive Finite-Time Consensus Tracking for Nonstrict Feedback Nonlinear MASs With UCDs convergence rate and achieve the fast stability of MASs. In [27], the authors study the finite-time control for secondorder multi-agent systems with antagonistic interactions. To our best knowledge, the problem of finite-time consensus tracking for nonstrict feedback nonlinear MASs is remain unsolved, which need to be further study. This paper will consider the above discussion, study the adaptive finite-time consensus tracking problems for nonstrict feedback nonlinear MASs with UCDs, and design a controller of the MASs under a general directed graph. 1) Compared to [17]–[19], [21], a fuzzy approximation based finite-time command filtering backstepping technology is design to solve the explosion of complexity problem, and guarantee the closed-loop system converge quickly and ensure better tracking accuracy. The UCDs of the MASs are solved by using the Nussbaum type function, which is more adopt to engineering applications

GRAPH THEORY

SOME LEMMAS AND ASSUMPTIONS Assumption 1

NUMERICAL RESULTS

CONCLUSION