Distributed consensus tracking control of second‐order non‐linear multi‐agent systems with unmodelled dynamics. Issue 17 (28th September 2020)

• Record Type: Journal Article
• Authors: Yu, Yajing; Zou, Wencheng; Guo, Jian; Xiang, Zhengrong
• Is Part Of: IET control theory & applications. Volume 14:Issue 17(2020)
• Page Start: 2573
• Page End: 2581
• Publication Date: 2020-09-28
• Subjects: multi‐agent systems -- radial basis function networks -- control system synthesis -- Lyapunov methods -- graph theory -- distributed control -- nonlinear control systems -- tracking -- adaptive control -- neurocontrollers; distributed consensus tracking control -- second‐order nonlinear multiagent systems -- unmodelled dynamics -- radial basis function neural networks -- nonlinearities -- dynamic signal -- distributed adaptive control protocol -- tracking error signals; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2020.0438
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : In this study, the consensus tracking control problem is considered for a class of second‐order non‐linear multi‐agent systems with unmodelled dynamics. Radial basis function neural networks are introduced to approximate the unknown non‐linearities and a dynamic signal is utilised to deal with the unmodelled dynamics. Meanwhile, appropriate Lyapunov functions are constructed and a new distributed adaptive control protocol is designed to guarantee that all the tracking error signals in the considered multi‐agent systems are ultimately bounded, under which the distributed tracking consensus is reached for all undirected connected communication graphs. Finally, two demonstrative examples are given to illustrate the validity of the designed protocols.