Adaptive finite-time leader-following consensus control of a group of uncertain mechanical systems

In this paper, the finite-time consensus control for multi-agent systems consisting of a group of nonlinear mechanical systems with parametric uncertainties is considered. Continuous distributed control algorithms for the multi-agent systems are presented. For the leader-follower of a group of mechanical systems with a directed graph, based on distributed estimators, it is demonstrated that consensus can be reached or the leader-following errors converge to a region with arbitrarily small radius in finite time.

[1]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[2]  Wenjie Dong,et al.  Adaptive consensus seeking of multiple nonlinear systems , 2012 .

[3]  Shihua Li,et al.  Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics , 2011, Autom..

[4]  Yanjiao Zhang,et al.  Finite-time consensus of second-order leader-following multi-agent systems without velocity measurements , 2013 .

[5]  S. Bhat,et al.  Continuous finite-time stabilization of the translational and rotational double integrators , 1998, IEEE Trans. Autom. Control..

[6]  W. Ren,et al.  Containment control for multiple euler-lagrange systems with parametric uncertainties in directed networks , 2011, Proceedings of the 2011 American Control Conference.

[7]  Yiguang Hong,et al.  Distributed Observers Design for Leader-Following Control of Multi-Agent Networks (Extended Version) , 2017, 1801.00258.

[8]  L. Praly,et al.  Adaptive nonlinear regulation: estimation from the Lyapunov equation , 1992 .

[9]  Frank L. Lewis,et al.  Robot Manipulator Control: Theory and Practice , 2003 .

[10]  Wei Lin,et al.  Non-Lipschitz continuous stabilizers for nonlinear systems with uncontrollable unstable linearization , 2001 .

[11]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[12]  Long Wang,et al.  Finite-time formation control for multi-agent systems , 2009, Autom..

[13]  Dennis S. Bernstein,et al.  Finite-Time Stability of Continuous Autonomous Systems , 2000, SIAM J. Control. Optim..

[14]  Long Wang,et al.  Finite-Time Consensus Problems for Networks of Dynamic Agents , 2007, IEEE Transactions on Automatic Control.

[15]  Frank L. Lewis,et al.  Adaptive cooperative tracking control of higher-order nonlinear systems with unknown dynamics , 2012, Autom..

[16]  Wei Lin,et al.  A continuous feedback approach to global strong stabilization of nonlinear systems , 2001, IEEE Trans. Autom. Control..

[17]  Lihua Xie,et al.  Distributed Tracking Control for Linear Multiagent Systems With a Leader of Bounded Unknown Input , 2013, IEEE Transactions on Automatic Control.

[18]  Yiguang Hong,et al.  Adaptive finite-time control of nonlinear systems with parametric uncertainty , 2006, IEEE Transactions on Automatic Control.

[19]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[20]  R. Jackson.  Inequalities , 2007, Algebra for Parents.

[21]  Wenwu Yu,et al.  Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics , 2010, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[22]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.