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.


Electrical and Computer Engineering


This work was supported in part by the National Natural Science Foundation of China under Grant U1609214, Grant 61673347, and Grant 61751205, and in part by the Open Research Fund of Jiangsu Collaborative Innovation Center for Smart Distribution Network, Nanjing Institute of Technology under Grant XTCX201607.

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)

2168-2267; 2168-2275

Document Type

Article - Journal

Document Version


File Type





© 2018 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Nov 2019