Distributed Adaptive Dynamic Surface Control for Synchronization of Uncertain Nonlinear Multi-agent Systems
- 17 Downloads
In this paper a distributed adaptive dynamic surface controller is proposed for multi-agent systems under fixed directed graph topologies. The agents have uncertain nonlinear dynamics and are influenced by bounded unknown disturbances. The controller should synchronize the states of all agents with the corresponding states of the nonautonomous leader. It is proved that, with the proposed controller, the synchronization error remains bounded; and the bounds can be arbitrarily decreased by increasing the controller gains. The control rules are designed such that each agent only requires the state information of its neighbors, rendering a distributed control. The effectiveness of the proposed method is demonstrated through two simulation examples.
KeywordsDistributed adaptive control dynamic surface control multi-agent systems synchronization
Unable to display preview. Download preview PDF.
- H. A. Hashim, S. El-Ferik, and F. L. Lewis, “Neuroadaptive cooperative tracking control with prescribed performance of unknown higher-order nonlinear multi-agent systems,” Int J Control, Taylor & Francis, pp. 1–16, 2017.Google Scholar
- C.Wannaboon, T. Masayoshi, “An autonomous chaotic oscillator based on hyperbolic tangent nonlinearity,” Proc. of 15th International Symposium on Communications and Information Technologies (ISCIT), pp. 323–326, 2015.Google Scholar
- F. L. Lewis, H. Zhang, K. Hengster-Movric, and A. Das, “Cooperative control of multi-agent systems: optimal and adaptive design approaches,” Springer Science & Business Media, 2013.Google Scholar
- S. S. Haykin, Neural Networks and Learning Machines, vol. 3, Pearson Education, Upper Saddle River, 2009.Google Scholar