Abstract
To address the control of uncertain multi-agent systems (MAS) with completely unknown system nonlinearities and unknown control coefficients, a global consensus method is proposed by constructing novel filters and barrier function-based distributed controllers. The main contributions are as follows. Firstly, a novel two-order filter is designed for each agent to produce informational estimates from the leader, such that a connectivity matrix is not used in the controller’s design, solving the difficultly caused by the time-varying control coefficients in a MAS with a directed graph. Secondly, combined with the novel filters, barrier functions are used to construct the distributed controller to deal with the completely unknown system nonlinearities, resulting in the global consensus of the MAS. Finally, it is rigorously proved that the consensus of the MAS is achieved while guaranteeing the prescribed tracking-error performance. Two examples are given to verify the effectiveness of the proposed method, in which the simulation results demonstrate the claims.
Highlights
The control of uncertain nonlinear systems has been researched for several decades, such that so many remarkable results have been obtained on this topic [1,2,3,4,5,6,7,8,9]
Most of them are for SISO or MIMO systems, and their methods or techniques cannot be directly applying to multi-agent systems, as the information of each agent or subsystems is only available for part of others
For a multi-agent systems (MAS) with a directed graph and constant control coefficients, adaptive consensus for a MAS with system nonlinearities satisfying match conditions is researched in [13] to solve the problem of actuator faults; a fully distributed adaptive consensus control is studied for a MAS with unknown control directions in [14]
Summary
The control of uncertain nonlinear systems has been researched for several decades, such that so many remarkable results have been obtained on this topic [1,2,3,4,5,6,7,8,9]. For a MAS with a directed graph and constant control coefficients, adaptive consensus for a MAS with system nonlinearities satisfying match conditions is researched in [13] to solve the problem of actuator faults; a fully distributed adaptive consensus control is studied for a MAS with unknown control directions in [14]. To the best of our knowledge, there is no global consensus control method for a MAS with a directed graph and the systems functions thereof completely unknown, except for [21], wherein the unknown system nonlinearities required to satisfy the Lipschitz conditions and control coefficients are one. To guarantee the prescribed tracking performance by the proposed controller, such that the consensus of the controlled MAS is rigorously proved and all the closed signals are globally bounded
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