Open AccessDistributed adaptive consensus tracking control for non‐linear multi‐agent systems with time‐varying delays
Author(s) -
Zamani Najmeh,
Askari Javad,
Kamali Marzieh,
Aghdam Amir
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.2020.0281
Subject(s) - control theory (sociology) , bounded function , computer science , convergence (economics) , multi agent system , controller (irrigation) , adaptive control , consensus , neighbourhood (mathematics) , linear system , tracking (education) , uniform boundedness , control (management) , mathematics , artificial intelligence , psychology , mathematical analysis , pedagogy , agronomy , economics , biology , economic growth
In this study, a novel distributed adaptive controller is provided for consensus control of high‐order non‐linear multi‐agent systems with unknown time‐varying delays. The system is subject to uncertain disturbances, and the agents' dynamics are not known. Unlike the existing literature, the proposed method does not require time‐delay terms in system dynamics to be bounded. A neural network is used to model the unknown non‐linear dynamics. Then, despite the destabilising effect of the unknown delays, some adaptive rules based on the dynamic surface control are designed to achieve the consensus objective. The semi‐global uniform boundedness of the resultant closed‐loop signals and the convergence of the tracking errors to a neighbourhood of the origin are shown mathematically. Simulations verify the effectiveness of the results.