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Tracking control for nonlinear time‐delay multiagent systems with input saturation
Author(s) -
Duan Zhiyu,
Zhang Xianfu,
Kong Lingyu,
Wang ZiMing
Publication year - 2020
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.3071
Subject(s) - control theory (sociology) , nonlinear system , lipschitz continuity , bounded function , hyperbolic function , constant (computer programming) , transformation (genetics) , computer science , backstepping , mathematics , control (management) , adaptive control , artificial intelligence , mathematical analysis , biochemistry , chemistry , physics , quantum mechanics , gene , programming language
Summary In this paper, the tracking control problem for a class of nonlinear time‐delay multiagent systems with input saturation is considered. The nonlinear dynamics are dominated by strict‐feedback form and satisfy Lipschitz conditions with constant gains. First, it indicated that the tracking control problem is equivalent to a general bound problem of high‐dimensional multivariable systems. Second, an ingenious state transformation is utilized to change the bound problem into the parameter design problem. Third, by the static gain control technique and the hyperbolic tangent function, both state feedback and output feedback controllers are built such that all signals of the closed‐loop systems are globally bounded, and the tracking errors between the followers and the leader can converge to a small neighborhood around the origin by appropriately selecting parameters. Finally, an example is shown to verify the feasibility of our results.