Abstract
This paper deals with the leader-following output consensus problem for a class of high-order affine nonlinear strict-feedback multiagent systems with unknown control gains and input saturation under a general directed graph. Nussbaum gain function technique is used to handle the unknown control gains, and the uncertain nonlinear dynamics of each agent is approximated by radial basis function neural networks. Distributed adaptive controllers are designed via the backstepping technique as well as the dynamic surface control approach. It is proved that the closed-loop multiagent systems are semiglobally uniformly ultimately bounded, and the output consensus error can converge to a small region around the origin. Finally, the theoretical results are supported by a numerical simulation.
Highlights
Motivated by the limitation of the existing literatures, this paper studies the leader-following output consensus problem for a class of high-order nonlinear multiagent systems (MAS) subject to input saturation and bounded external disturbances
It is proved that the closed-loop MAS is semiglobally uniformly bounded (SUUB), and the output consensus error can converge to a small region around the origin
(1) First, the high-order MAS model discussed in this paper is a class of affine nonlinear systems in the strict-feedback form with external disturbances, which is more general than most existing systems regarding output consensus control with unknown control gains [26, 32, 33], where the system dynamics was described with the Brunovsky form or the input saturation was not considered
Summary
Consensus control of multiagent systems (MAS) has drawn considerable attention in the past two decades due to its broad applications in multiple ground-moving robots [1], unmanned aerial vehicles (UAVs) [2], unmanned surface vessels [3], sensor networks [4], smart grids [5], and synchronization and flocking models [6,7,8], for instance. e investigation on this topic has been carried out from different perspectives, to mention a few, such as single-integrator or double-integrator MAS [9, 10], general linear MAS [11,12,13], nonlinear MAS [14,15,16], fractional-order MAS [17, 18], and high-order MAS [19, 20]. In [26], high-order MAS with nonlinear dynamics and partially unknown nonidentical time-varying control directions, as well as bounded external disturbances, was considered, where the communication digraph was assumed to be strongly connected. Motivated by the limitation of the existing literatures, this paper studies the leader-following output consensus problem for a class of high-order nonlinear MAS subject to input saturation and bounded external disturbances. (1) First, the high-order MAS model discussed in this paper is a class of affine nonlinear systems in the strict-feedback form with external disturbances, which is more general than most existing systems regarding output consensus control with unknown control gains [26, 32, 33], where the system dynamics was described with the Brunovsky form or the input saturation was not considered.
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