Abstract
This paper mainly addresses the issue of fast finite-time consensus (FTC) algorithms for a group of high-order uncertain nonlinear non-strict-feedback Multi-agent Systems (MASs) with time-varying asymmetric full state constraints. In order to guarantee the state constraints are satisfied, an appropriate asymmetric nonlinear mapping (NM) is employed to transform the original full state constrained system into a corresponding unconstrained one. Combining neural networks technology, graph theory, fast finite-time control theory and backstepping recursive design scheme, the uncertainties and non-strict-feedback form are considered to propose a distributed adaptive FTC protocol which can guarantee tracking error reaching a region in finite time. Finally, an example is given to show that the designed control law can perform effective control.
Highlights
The fundamental problem, consensus, aims at driving all states of the agents to converge to a common value using the designed consensus protocol
Cai: Adaptive Practical finite-time consensus (FTC) Protocols mismatched disturbances have been taken into consideration in [26], Shang et al designed a piecewise virtual controller to cope with the occurrence of singularities [27]
Via the recursive design method, we investigate the issue of fast FTC protocols for a class of high-order uncertain nonlinear Multi-agent Systems (MASs) with non-strict-feedback form and VOLUME 9, 2021 time-varying asymmetric output constraints
Summary
The fundamental problem, consensus, aims at driving all states of the agents to converge to a common value using the designed consensus protocol. Cai: Adaptive Practical FTC Protocols mismatched disturbances have been taken into consideration in [26], Shang et al designed a piecewise virtual controller to cope with the occurrence of singularities [27] These results are not general enough, because of the systems are strict-feedback. Based on a high-gain observer, adaptive back-stepping control approach and dynamic surface control technique, and combining BLF method, a consensus tracking control issue of nonlinear strict-feedback MASs with state constraints was investigated in [46]. Via the recursive design method, we investigate the issue of fast FTC protocols for a class of high-order uncertain nonlinear MASs with non-strict-feedback form and VOLUME 9, 2021 time-varying asymmetric output constraints. It is challenging to design fast finite-time controllers for non-strict-feedback MASs, as complex nonlinear dynamics involve the whole state variable which influence the stability of agent itself and other agents
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