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Distributed adaptive control for multiple nonholonomic systems with nonlinearly parameterized uncertainties
Author(s) -
Gu Jianzhong,
Li Wuquan,
Yang Hongyong
Publication year - 2019
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2986
Subject(s) - backstepping , parameterized complexity , nonholonomic system , control theory (sociology) , bounded function , adaptive control , graph , topological graph theory , computer science , directed graph , scheme (mathematics) , topology (electrical circuits) , mathematics , control (management) , theoretical computer science , robot , algorithm , mobile robot , artificial intelligence , mathematical analysis , voltage graph , line graph , combinatorics
Summary This paper investigates the distributed adaptive control problem for multiple nonholonomic systems with nonlinearly parameterized uncertainties. Under the assumption that the graph topology is directed and the leader is globally reachable, distributed adaptive controllers are designed recursively by using backstepping technique and algebra graph theory. It is shown that all the followers' outputs will exponentially converge to the reference output signal while all the signals of the closed‐loop system are bounded. Finally, two simulation examples are given to demonstrate the effectiveness of the control scheme.