Smooth control design for adaptive leader-following consensus control of a class of high-order nonlinear systems with time-varying reference

• Autores: Jiangshuai Huang, Yong-Duan Song, Wei Wang, Changyun Wen, Guoqi Li
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 83, 2017, págs. 361-367
• Idioma: inglés
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• Resumen

  • Abstract In this paper, we investigate the distributed adaptive leader-following consensus control for high-order nonlinear multi-agent systems with time-varying reference trajectory under directed topology subjected to mismatched unknown parameters and uncertain external disturbances. By introducing local estimators for the bounds of reference trajectory and a filter for each agent, a new backstepping based smooth distributed adaptive control protocol is proposed. It is shown that global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme.