Output‐feedback adaptive consensus tracking control for a class of high‐order nonlinear multi‐agent systems

Summary In this paper, an output-feedback adaptive consensus tracking control scheme is proposed for a class of high-order nonlinear multi-agent systems. The agents are allowed to have unknown parameters, unknown nonlinearities, and input quantization simultaneously. The desired trajectory to be tracked is available for only a subset of agents, and only the relative outputs and the quantized inputs need to be measured or transmitted as signal exchange among neighbors regardless of the system order. By introducing a kind of high-gain K-filters and a smooth function, the effect among agents caused by the unknown nonlinearities is successfully counteracted, and all closed-loop signals are proved to be globally uniformly bounded. Moreover, it is shown that the tracking errors converge to a residual set that can be made arbitrarily small. Simulation results on robot manipulators are presented to illustrate the effectiveness of the proposed scheme. Copyright © 2017 John Wiley & Sons, Ltd.

[1]  Frank L. Lewis,et al.  Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties , 2013, Autom..

[2]  Peng Shi,et al.  Distributed command filtered backstepping consensus tracking control of nonlinear multiple-agent systems in strict-feedback form , 2015, Autom..

[3]  Guang-Hong Yang,et al.  Adaptive Backstepping Stabilization of Nonlinear Uncertain Systems With Quantized Input Signal , 2014, IEEE Transactions on Automatic Control.

[4]  Lorenzo Marconi,et al.  Robust output synchronization of a network of heterogeneous nonlinear agents via nonlinear regulation theory , 2013, 52nd IEEE Conference on Decision and Control.

[5]  Frank L. Lewis,et al.  Lyapunov, Adaptive, and Optimal Design Techniques for Cooperative Systems on Directed Communication Graphs , 2012, IEEE Transactions on Industrial Electronics.

[6]  Frank L. Lewis,et al.  Distributed adaptive control for synchronization of unknown nonlinear networked systems , 2010, Autom..

[7]  Zhengtao Ding,et al.  Adaptive consensus output regulation of a class of nonlinear systems with unknown high-frequency gain , 2015, Autom..

[8]  Yongduan Song,et al.  Adaptive finite-time consensus control of a group of uncertain nonlinear mechanical systems , 2015, Autom..

[9]  Zhong-Ping Jiang,et al.  A sector bound approach to feedback control of nonlinear systems with state quantization , 2012, Autom..

[10]  Sung Jin Yoo,et al.  Distributed adaptive containment control of uncertain nonlinear multi-agent systems in strict-feedback form , 2013, Autom..

[11]  Dimos V. Dimarogonas,et al.  Consensus with quantized relative state measurements , 2013, Autom..

[12]  Yinqiu Wang,et al.  Quantized consensus on first-order integrator networks , 2012, Syst. Control. Lett..

[13]  Gang Feng,et al.  Leader-follower consensus of time-varying nonlinear multi-agent systems , 2015, Autom..

[14]  Jie Huang,et al.  Cooperative global output regulation of heterogeneous second-order nonlinear uncertain multi-agent systems , 2013, Autom..

[15]  Tomohisa Hayakawa,et al.  Adaptive quantized control for nonlinear uncertain systems , 2006, 2006 American Control Conference.

[16]  Guangfu Ma,et al.  Distributed adaptive coordination for multiple Lagrangian systems under a directed graph without using neighbors' velocity information , 2013, Autom..

[17]  Tomohisa Hayakawa,et al.  Adaptive quantized control for linear uncertain discrete-time systems , 2005, Proceedings of the 2005, American Control Conference, 2005..

[18]  Yan Lin,et al.  Output‐feedback robust adaptive backstepping control for a class of multivariable nonlinear systems with guaranteed L∞ tracking performance , 2013 .

[19]  Xiaobo Li,et al.  Adaptive Consensus of Multi-Agent Systems With Unknown Identical Control Directions Based on A Novel Nussbaum-Type Function , 2014, IEEE Transactions on Automatic Control.

[20]  Yongcan Cao,et al.  Distributed Coordinated Tracking With Reduced Interaction via a Variable Structure Approach , 2012, IEEE Transactions on Automatic Control.

[21]  Wei Wang,et al.  Distributed adaptive control for consensus tracking with application to formation control of nonholonomic mobile robots , 2014, Autom..

[22]  Junmin Li,et al.  Adaptive iterative learning control for coordination of second‐order multi‐agent systems , 2014 .

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

[24]  Claudio De Persis,et al.  Discontinuities and hysteresis in quantized average consensus , 2010, Autom..

[25]  Kiyotsugu Takaba,et al.  Robust Synchronization of Uncertain Linear Multi-Agent Systems , 2013, IEEE Transactions on Automatic Control.

[26]  Xiao Fan Wang,et al.  Flocking of Multi-Agents With a Virtual Leader , 2009, IEEE Trans. Autom. Control..

[27]  Zhiyong Chen,et al.  A General Framework for Robust Output Synchronization of Heterogeneous Nonlinear Networked Systems , 2016, IEEE Transactions on Automatic Control.

[28]  Xiaobo Li,et al.  Quantized consensus of second-order continuous-time multi-agent systems with a directed topology via sampled data , 2013, Autom..