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Adaptive robust consensus tracking for nonlinear second‐order multi‐agent systems with heterogeneous uncertainties
Author(s) -
Ai Xiaolin,
Yu Jianqiao,
Jia Zhenyue,
Shen Yuanchuan,
Ma Pengbao,
Yang Di
Publication year - 2017
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.3847
Subject(s) - control theory (sociology) , parametric statistics , nonlinear system , bounded function , multi agent system , computer science , robustness (evolution) , convergence (economics) , adaptive control , constant (computer programming) , robust control , tracking error , consensus , rate of convergence , tracking (education) , mathematical optimization , control (management) , mathematics , artificial intelligence , channel (broadcasting) , economic growth , mathematical analysis , computer network , chemistry , biochemistry , quantum mechanics , programming language , statistics , physics , economics , gene , pedagogy , psychology
Summary This paper addresses the consensus tracking problem for a class of heterogeneous nonlinear second‐order multi‐agent systems with parametric uncertainties, unmodeled dynamics, and bounded external disturbances. By linearly parameterizing the control input of the leader, two distributed adaptive robust consensus tracking control protocols with dynamic and fixed coupling gains are constructed based on the relative information from neighboring agents. The global tracking errors are shown to be guaranteed to exponentially converge to a ball with a constant radius at a prescribed rate of convergence under external disturbances. Finally, a numerical example is provided to verify the theoretical results. Copyright © 2017 John Wiley & Sons, Ltd.