Coordinative control of multi-agent systems using distributed nonlinear output regulation

In this paper, the coordinative control problem of a multiagent system with general nonlinear dynamics is addressed. This multiagent coordination problem can be formulated as a nonlinear output regulation problem, and in order to solve it, the nonlinear distributed coordinative control is designed to make the agents asymptotically track the reference or reject disturbance. The reference or disturbance signals are generated by an exosystem, which can be considered as active leaders or the environmental disturbance in the considered multiagent systems. Finally, an illustrative example is provided to demonstrate the effectiveness of the main results.     

Sampled-data output voltage regulation for a DC–DC buck converter nonlinear system with actuator and sensor failures

Nonlinear Dynamics - This paper considers the distributed adaptive neural consensus tracking control problem for a class of uncertain nonaffine nonlinear multi-agent systems. By making use of the...     

Output feedback regulation of large-scale feedforward systems with discrete and distributed delays

Nonlinear Dynamics - This paper proposes an output feedback control strategy to achieve the global regulation of a class of large-scale feedforward nonlinear systems with discrete and distributed...     

Neural network-based adaptive output feedback formation control for multi-agent systems

This paper investigates the problem of output feedback formation tracking control for second-order multi-agent systems under an undirected connected graph and in the presence of dynamic uncertainties and bounded external disturbances. Two state tracking error measures (i.e., absolute and relative state tracking errors) are considered for each individual agent in the formation, and linear reduced-order observers are constructed based on the lumped state tracking errors which include absolute and relative state tracking errors. Chebyshev neural networks are used to approximate unknown nonlinear function in the agent dynamics on-line, and the implementation of the basis functions of Chebyshev neural networks depends only on the desired signals. The smooth projection algorithm is applied to guarantee that the estimated parameters remain in some known bounded sets. Numerical simulations are presented to illustrate the performance of the proposed controller.     

Fixed-time consensus tracking control of second-order multi-agent systems with inherent nonlinear dynamics via output feedback

Nonlinear Dynamics - This paper is devoted to the fixed-time consensus tracking control problem for a class of second-order nonlinear multi-agent systems. Firstly, a fixed-time consensus control...     

Observer-based adaptive consensus tracking control for nonlinear multi-agent systems with actuator hysteresis

Nonlinear Dynamics - This paper addresses the consensus tracking problem of a class of nonlinear multi-agent systems by using observer-based control. The systems are in output-feedback form with...     

Distributed adaptive fuzzy control approach for prescribed-time containment of uncertain nonlinear multi-agent systems with unknown hysteresis

Nonlinear Dynamics - Unknown hysteresis cannot be ignored in containment control, but the problem of prescribed-time containment for uncertain nonlinear multi-agent systems with unknown hysteresis...     

Adaptive neural network consensus tracking control for uncertain multi-agent systems with predefined accuracy

Nonlinear Dynamics - This paper proposes the consensus tracking control problem for a class of uncertain nonlinear multi-agent systems. By using a group of nonnegative functions, an adaptive neural...     

BLS-based formation control for nonlinear multi-agent systems with actuator fault and input saturation

This paper studies the formation control of a nonlinear multi-agent system based on a broad learning system under actuator fault and input saturation. Firstly, the multi-agent tracking error is proposed based on graph theory. Besides, fault tolerance should be considered when actuator fault exists. Meanwhile, the broad learning system is put forward to approximate the unknown nonlinear function in the multi-agent system. Then, an input saturation auxiliary system is introduced to reduce the adverse effects of input saturation constraints. At the same time, the disturbance observer technology is used to estimate the actuator failure as a lumped uncertainty. At last, dynamic surface control is introduced to realize formation control with actuator fault and input saturation. Obviously, it is difficult to design a controller with unknown nonlinear function, input saturation, and actuator fault existing in the multi-agent system. The Lyapunov method can prove the stability of the formation control. The simulation results verify the effectiveness of the controller.

     

Finite-time consensus of high-order heterogeneous multi-agent systems with mismatched disturbances and nonlinear dynamics

Nonlinear Dynamics - In this study, we investigate the finite-time consensus problem for a general class of high-order nonlinear heterogeneous multi-agent systems, for which not only the unknown...     

Observer-based adaptive fuzzy backstepping dynamic surface control design and stability analysis for MIMO stochastic nonlinear systems

In this paper, an adaptive fuzzy backstepping output feedback dynamic surface control (DSC) approach is developed for a class of multiinput and multioutput (MIMO) stochastic nonlinear systems with immeasurable states. Fuzzy logic systems are firstly utilized to approximate the unknown nonlinear functions, and then a fuzzy state observer is designed to estimate the immeasurable states. By combining adaptive backstepping technique and dynamic surface control (DSC) technique, an adaptive fuzzy output feedback backstepping DSC approach is developed. The proposed control method not only overcomes the problem of ??explosion of complexity?? inherent in the backstepping design methods, but also the problem of the immeasurable states. It is proved that all the signals of the closed-loop adaptive control stochastic system are semiglobally uniformly ultimately bounded (SUUB) in probability, and the observer errors and the output of the system converge to a small neighborhood of the origin. Simulation results are provided to show the effectiveness of the proposed approach.     

A distributed fault detection scheme in disturbed heterogeneous networked systems

Nonlinear Dynamics - This paper deals with the problem of distributed fault detection and isolation in multi-agent systems with disturbed high-order dynamics subject to communication uncertainties...     

Consensus tracking via quantized iterative learning control for singular nonlinear multi-agent systems with state time-delay and initial state error

Nonlinear Dynamics - This paper investigates the quantized iterative learning consensus tracking problem for singular nonlinear multi-agent systems (MASs) in the presence of state time-delay and...     

Adaptive finite-time event-triggered command filtered control for nonlinear systems with unknown control directions

Nonlinear Dynamics - In this article, we study an adaptive finite-time event-triggered command filtered control problem based on output feedback for a class of nonstrict-feedback nonlinear systems...     

Finite-time consensus tracking of second-order multi-agent systems via nonsingular TSM

The finite-time consensus tracking problem for second-order multi-agent system is investigated in this paper. The multi-agent system here is composed of a leader with bounded input signal and n followers with bounded disturbances. A new continuous nonlinear distributed consensus tracking protocol is constructed via nonsingular terminal sliding mode (TSM) scheme. It is proved that the overall system will reach consensus in finite time via Lyapunov theory when appropriately choosing the parameters under directed connected topology. Finally, simulations are performed, and results show that the method is robust and efficient.     

Adaptive consensus control of fractional multi-agent systems by distributed event-triggered strategy

Nonlinear Dynamics - In this paper, based on adaptive control, the consensus problem of fractional general linear multi-agent systems is studied. A new adaptive consensus control is designed and...     

Prescribed performance adaptive fuzzy output-feedback control of uncertain nonlinear systems with unmodeled dynamics

In this paper, an adaptive fuzzy output-feedback control approach is proposed for a class of uncertain nonlinear systems with unknown nonlinear functions, unmodeled dynamics, and without the measurements of the states. The fuzzy logic systems are used to approximate the unknown nonlinear functions, and a fuzzy state observer is designed for estimating the unmeasured states. To solve the problem of unmodeled dynamics, the dynamical signal combined with changing supply function is incorporated into the backstepping recursive design technique. Under the framework of the backstepping control design technique and incorporated by the predefined performance technique, a new robust adaptive fuzzy output feedback control scheme is constructed. It is shown that all the signals of the resulting closed-loop system are bounded, and the system output remains an adjustable neighborhood of the origin with the prescribed performance bounds. A simulation example and comparison with the previous control methods are provided to show the effectiveness of the proposed control approach.     

Event-triggered output feedback control for feedforward nonlinear systems with unknown measurement sensitivity

Nonlinear Dynamics - This paper investigates the event-triggered output feedback control problem for feedforward nonlinear systems with unknown measurement sensitivity. The nonlinear terms are...     

Robust output feedback control of time-delay nonlinear systems with dead-zone input and application to chemical reactor system

Nonlinear Dynamics - This paper investigates the problem of robust output feedback control for a class of time-delay nonlinear systems with unknown continuous time varying output function. Unlike...     

Finite-time stability of multi-agent system in disturbed environment

Finite-time stability problem of multi-agent system in disturbed environment is a question with practical significance. In this paper, a multi-agent system moving with obstacle avoidance is studied. The multi-agent system is expected to form a desired formation in finite time. Finite-time control law for continuous multi-agent system is proposed, which ensures that all the agents can pass the obstacles on their way, and the relative position between two agents reaches a constant value in finite time. Based on some notations and proposition given in the paper, the stability analysis is presented. Finally some simulations are presented to show the effectiveness of the method.