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A chattering free consensus controller for multiple Lur’e systems with a non-autonomous leader and directed switching topology

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Abstract

Achieving asymptotical cooperative goal for multi-agent systems (MASs) with non-autonomous leaders (i.e., leaders with nonzero inputs) is a critical but challenging issue. Traditional approach is to use discontinuous controllers which may cause chattering phenomenon in practical applications. How to achieve the asymptotical goal via a chattering free cooperative controller remains to be open so far. In this paper, an adaptive continuous controller is designed to achieve zero error consensus tracking in multiple Lur’e systems with a non-autonomous leader under directed switching topology. Firstly, an unknown input observer (UIO) based on relative outputs is given to estimate the relative full states. Then an adaptive continuous controller is designed by introducing a decay function which remains positive into the term that plays the role of eliminating the impacts of leader’s nonzero inputs. Secondly, by using multiple Lyapunov functions (MLFs) technique, it is proven that zero error consensus tracking can be achieved if the average dwell time (ADT) is greater than a positive threshold. Finally, theoretical result is verified by performing simulations on Chua’s circuits. Compared with existing work, the proposed controller can not only achieve asymptotical consensus, but also is chattering free.

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Author information

Authors and Affiliations

  1. School of Mathematics and Statistics, Anhui Normal University, Wuhu, 241000, China

    PeiJun Wang

  2. Anhui Province Engineering Laboratory of Intelligent Robot’s Information Fusion and Control, Anhui Normal University, Wuhu, 241000, China

    PeiJun Wang

  3. School of Mathematics, Frontiers Science Center for Mobile Information Communication and Security, Southeast University, Nanjing, 210096, China

    WenWu Yu

  4. Purple Mountain Laboratories, Nanjing, 211111, China

    WenWu Yu

  5. Department of Electrical Engineering, Nantong University, Nantong, 226019, China

    WenWu Yu

  6. Department of Systems Science, School of Mathematics, Southeast University, Nanjing, 210096, China

    GuangHui Wen

  7. School of Engineering, RMIT University, Melbourne, VIC, 3001, Australia

    XingHuo Yu

  8. Science Program, Texas A&M University at Qatar, Doha, 23874, Qatar

    TingWen Huang

Authors
  1. PeiJun Wang
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  2. WenWu Yu
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  3. GuangHui Wen
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Corresponding author

Correspondence to WenWu Yu.

Additional information

This work was supported by the National Natural Science Foundation of China (Grant Nos. 62003003 and 62073076), the Natural Science Foundation of Anhui Province (Grant No. 2008085QF304), and the Talent Programme of Anhui Province for Young Scholars.

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Wang, P., Yu, W., Wen, G. et al. A chattering free consensus controller for multiple Lur’e systems with a non-autonomous leader and directed switching topology. Sci. China Technol. Sci. 66, 1110–1118 (2023). https://doi.org/10.1007/s11431-022-2175-5

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  • DOI: https://doi.org/10.1007/s11431-022-2175-5

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