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Adaptive coordinated control of networked non-affine nonlinear systems with a non-autonomous nonlinear leader

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Abstract

This paper considers the coordinated control problem of the multi-agent system modeled by a class of time-varying non-affine nonlinear systems and a non-autonomous nonlinear leader system with an input, capable of adjusting the reference signal in real time. We first propose a dynamic nonlinear observer to estimate the state of the active leader system, which is fully distributed without any prior knowledge of the graph and the input. Then by further employing a special group of time-varying functions, an observer-based adaptive control law is constructed to asymptotically track the nonlinear reference signals, which are allowed to be arbitrarily different for each follower system. Our control law can be applied to solve the leader-following synchronization and formation problems of multiple non-affine and affine nonlinear systems, and the whole design is robust to actuator fault, time-varying uncertain parameters and the external disturbances, whose upper bounds can be arbitrarily large and unknown.

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Funding

This work has been supported in part by Sponsored by Shanghai Rising-Star Program under Grant 22QA1409400, in part by National Natural Science Foundation of China under Grants 62073241 and 62173250, and in part by Shanghai Municipal Science and Technology Major Project under Grant 2021SHZDZX0100.

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Authors and Affiliations

  1. College of Electronic and Information Engineering, Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, 200092, China

    Yi Dong & Rongrong Gu

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  1. Yi Dong
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  2. Rongrong Gu
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Correspondence to Yi Dong.

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Dong, Y., Gu, R. Adaptive coordinated control of networked non-affine nonlinear systems with a non-autonomous nonlinear leader. Nonlinear Dyn 111, 13111–13124 (2023). https://doi.org/10.1007/s11071-023-08549-w

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  • DOI: https://doi.org/10.1007/s11071-023-08549-w

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