Distributed Adaptive Dynamic Surface Control for Synchronization of Uncertain Nonlinear Multi-agent Systems

  • Javad Tousi
  • Marzieh Kamali
  • Iman Izadi
  • Farid Sheikholeslam
Regular Papers Control Theory and Applications


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.


Distributed adaptive control dynamic surface control multi-agent systems synchronization 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Javad Tousi
    • 1
  • Marzieh Kamali
    • 1
  • Iman Izadi
    • 1
  • Farid Sheikholeslam
    • 1
  1. 1.Department of Electrical and Computer EngineeringIsfahan University of TechnologyIsfahanIran

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