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Robust consensus tracking for a class of heterogeneous second‐order nonlinear multi‐agent systems
Author(s) -
Wang Chuanrui,
Ji Haibo
Publication year - 2014
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3269
Subject(s) - backstepping , lipschitz continuity , nonlinear system , bounded function , consensus , multi agent system , control theory (sociology) , computer science , position (finance) , observer (physics) , robustness (evolution) , robust control , class (philosophy) , adaptive control , mathematics , control (management) , artificial intelligence , mathematical analysis , biochemistry , chemistry , physics , finance , quantum mechanics , economics , gene
Summary This paper deals with the robust consensus tracking problem for a class of heterogeneous second‐order nonlinear multi‐agent systems with bounded external disturbances. First, a distributed adaptive control law is proposed based on the relative position and velocity information. It is shown that for any connected undirected communication graph, the proposed control law solves the robust consensus tracking problem. Then, by introducing a novel distributed observer and employing backstepping design techniques, a distributed adaptive control law is constructed based only on the relative position information. Compared with the existing results, the proposed adaptive consensus protocols are in a distributed fashion, and the nonlinear functions are not required to satisfy any globally Lipschitz or Lipschitz‐like condition. Numerical examples are given to verify our proposed protocols. Copyright © 2014 John Wiley & Sons, Ltd.