Open AccessConsensus control of higher‐order Lipschitz non‐linear multi‐agent systems based on backstepping method
Author(s) -
Li Guipu,
Wang Xiangyu,
Li Shihua
Publication year - 2020
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2019.0207
Subject(s) - backstepping , control theory (sociology) , lipschitz continuity , controller (irrigation) , multi agent system , sliding mode control , stability theory , computer science , nonlinear system , mode (computer interface) , scheme (mathematics) , mathematics , control (management) , adaptive control , artificial intelligence , mathematical analysis , physics , quantum mechanics , agronomy , biology , operating system
The consensus problem of higher‐order Lipschitz non‐linear multi‐agent systems is studied. For the leaderless case, by using the backstepping method, a distributed recursive linear control scheme is proposed. In the recursive control design, based on feedback domination method, the Lipschitz conditions of the unknown non‐linearities are organically used in the virtual controller design. The proposed recursive controllers guarantee that the leaderless multi‐agent systems reach global consensus asymptotically. For the leader‐follower case, first, baseline distributed recursive controllers are designed via backstepping method and feedback domination technique. Then with the baseline recursive controllers, a kind of linear sliding‐mode surface and the corresponding sliding‐mode controllers are proposed for the consensus tracking error system. Under the proposed sliding‐mode controllers, the leader‐follower multi‐agent systems reach global consensus asymptotically. Besides, simulations verify the validity of the proposed distributed control algorithms for both cases.