Distributed adaptive control for multiple nonholonomic systems with nonlinearly parameterized uncertainties. (22nd March 2019)

• Record Type: Journal Article
• Authors: Gu, Jianzhong; Li, Wuquan; Yang, Hongyong
• Is Part Of: International journal of adaptive control and signal processing. Volume 33:Number 5(2019)
• Page Start: 747
• Page End: 766
• Publication Date: 2019-03-22
• Subjects: directed network topology -- distributed adaptive control -- multiple nonholonomic systems; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.2986
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: This paper investigates the distributed adaptive control problem for multiple nonholonomic systems with nonlinearly parameterized uncertainties. Under the assumption that the graph topology is directed and the leader is globally reachable, distributed adaptive controllers are designed recursively by using backstepping technique and algebra graph theory. It is shown that all the followers' outputs will exponentially converge to the reference output signal while all the signals of the closed‐loop system are bounded. Finally, two simulation examples are given to demonstrate the effectiveness of the control scheme.