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Nussbaum function–based universal cooperative output regulation design for uncertain nonlinear multiagent systems
Author(s) -
Guo Meichen,
Xu Dabo,
Liu Lu
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.3897
Subject(s) - control theory (sociology) , controller (irrigation) , nonlinear system , computer science , internal model , function (biology) , multi agent system , regulator , directed graph , control engineering , graph , control (management) , engineering , artificial intelligence , theoretical computer science , algorithm , biochemistry , chemistry , physics , quantum mechanics , evolutionary biology , gene , agronomy , biology
Summary This paper presents a Nussbaum function–based universal cooperative output regulation design for a class of nonlinear multiagent systems with both an unknown exosystem and nonidentical unknown control directions. The major challenges include the nonidentical unknown control directions in a directed communication graph and the concurrence of the unknown parameters in both the plant and the exosystem. To handle the nonidentical unknown control directions, we propose a dynamic compensator–based distributed controller such that the Nussbaum gain technique can be successfully implemented under directed communication graphs. Moreover, to deal with the unknown exosystem, we integrate the distributed controller with a novel internal model candidate. The resulting distributed controller is a universal regulator in the sense that it does not require the unknown parameters to be in known compact sets. Furthermore, the proposed controller is more flexible compared with those in the existing works as any existing Nussbaum gains can be adopted in the controller design and the adopted Nussbaum gains can be nonidentical for each agent.