Output Synchronization of Heterogeneous Nonlinear Multiagent Systems With Input Quantization: A Universal Performance Guaranteed Control Scheme

Abstract

This paper investigates the synchronization control for a class of heterogeneous nonlinear multi-agent systems with a directed communication topology. The practical problems of input quantization, uncertain dynamics and external disturbances are taken into account. A performance guaranteed distributed control scheme is developed by proposing a universal error transformation and applying neural network under the backstepping framework. The idea of minimum learning parameter is adopted and the sector characteristic of the hysteresis quantizer is cleverly used, so that the computational complexity of the control law is reduced. A reasonable relationship between the local synchronization error and the transformed error is established by the proposed error transformation, which is the key to solve the problem that the agents with different quantizers can achieve synchronization and meet the prescribed performance. All signals in the closed-loop system are proved to be uniformly ultimately bounded based on Lyapunov theory. Finally, the effectiveness of the proposed control law is verified by a numerical simulation example.