Low-Complexity Control With Funnel Performance for Uncertain Nonlinear Multiagent Systems

• 成果类型: Article
• 署名作者: Min, Xiao; Baldi, Simone; Yu, Wenwu; Cao, Jinde
• 署名单位: Southeast University - China; Yonsei University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3302855
• 发表日期: 2024
• 页码: 1975-1982
• 关键词: Distributed control; funnel control; low-complexity control; nonlinear multiagent systems

摘要

A low-complexity funnel controller is presented for high-order nonlinear multiagent systems with unknown dynamics. The term low-complexity is used in the literature for controllers based on memoryless nonlinear feedback, with no function approximation to estimate the unknown dynamics. Compared with existing low-complexity controllers, this work reduces the nonlinear terms in the memoryless feedback, which requires a dedicated stability analysis. A comparative numerical study further illustrates the method.