Distributed Control of High-Order Nonlinear Input Constrained Multiagent Systems using a Backstepping-Free Method
This paper presents novel cooperative tracking control for a class of input-constrained multiagent systems with a dynamic leader. Each follower agent is described by a high-order nonlinear dynamics in strict feedback form with input constraints. Our main contribution lies in presenting a system transformation method that can convert the input-constrained state feedback cooperative tracking control of agents into an unconstrained output feedback control of agents with dynamics in Brunovsky normal form. As a result, the original problem is simplified to be a simple stabilization of the transformed system for the agents. Thus, the use of the backstepping scheme is obviated, and the synthesis and computation are extremely simplified. It is strictly proved that all follower agents can synchronize to the leader with bounded synchronization errors, and all other signals in the closed-loop system are semi-global uniformly ultimately bounded. Finally, numerical analysis is carried out to validate the theoretical results and demonstrate the effectiveness of the proposed approach.
W. Meng et al., "Distributed Control of High-Order Nonlinear Input Constrained Multiagent Systems using a Backstepping-Free Method," IEEE Transactions on Cybernetics, vol. 49, no. 11, pp. 3923-3933, Institute of Electrical and Electronics Engineers (IEEE), Nov 2019.
The definitive version is available at https://doi.org/10.1109/TCYB.2018.2853623
Electrical and Computer Engineering
Keywords and Phrases
Adaptive control systems; Closed loop control systems; Closed loop systems; Decentralized control; Distributed parameter control systems; Dynamical systems; Dynamics; Electric ship equipment; Multi agent systems; Navigation; Nonlinear dynamical systems; State feedback; Synchronization; Adaptive neural control; Co-operative control; Cooperative tracking controls; Input constraints; Nonlinear multi-agent systems; Output feedback controls; Transformation methods; Uniformly ultimately bounded; Backstepping; Cooperative control; Multi-agent systems; Nonlinear multiagent system; Unknown dynamics
International Standard Serial Number (ISSN)
Article - Journal
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01 Nov 2019