Observer-based adaptive consensus tracking control for nonlinear multi-agent systems with actuator hysteresis
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This paper addresses the consensus tracking problem of a class of nonlinear multi-agent systems by using observer-based control. The systems are in output-feedback form with both actuator hysteresis and external disturbances. Radial basis function neural networks are used to approximate unknown nonlinear functions. By constructing a state observer and using the backstepping technique, a distributed adaptive neural output-feedback control scheme is proposed to solve the consensus tracking problem. Approximation errors of neural networks together with external disturbances are adaptively estimated and counteracted. For a communication graph containing a spanning tree, we show that the proposed controller guarantees all signals of the closed-loop system are semi-globally uniformly ultimately bounded, and the consensus tracking error and the observer error converge to an adjustable neighborhood of the origin. Finally, two simulation examples are provided to verify the performance of the control design.
KeywordsConsensus Nonlinear observer Adaptive control Actuator hysteresis
This work is supported by the National Natural Science Foundation of China (11771102, U1501251), the Characteristic Innovation Project of Education Department of Guangdong Province (2015KTSCX034), the Zhujiang New Star (201506010056), the Guangdong Province Outstanding Young Teacher Training Plan (YQ2015050) and the Natural Science Foundation of Guangdong Province (2017A030313397, 2018A030313738).
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Conflict of interest
All authors declare that they have no conflict of interest.
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