RESO-based distributed bipartite tracking control for stochastic MASs with actuator nonlinearity

Abstract

This paper focuses on addressing the bipartite tracking control issue for stochastic nonlinear multiagent systems (MASs) with unmeasured states, unknown external disturbances and actuator nonlinearity. During the design procedure, a category of distributed reduced-order extended state observers (RESOs) are constructed to compensate for the total disturbances and estimate unknown states. Moreover, in order to solve the adverse impacts caused by actuator nonlinearity (saturation and dead-zone), an auxiliary variable and the Nussbaum gain method are adopted. Compared with the existing results, the proposed scheme has a better approximation effect. Based on distributed RESOs, the command-filtered backstepping method, and stochastic Lyapunov stability theory, a bipartite tracking control protocol is designed such that all signals of the closed-loop system are semi-global uniformly ultimately bounded (SGUUB) in probability. Finally, the effectiveness and superiority of the proposed method are verified via simulation examples and comparison results.