Distributed Control of Nonlinear Systems With Unknown Time-Varying Control Coefficients: A Novel Nussbaum Function Approach

• 成果类型: Article
• 署名作者: Liu, Zongcheng; Huang, Jiangshuai; Wen, Changyun; Su, Xiaojie
• 署名单位: Air Force Engineering University; Northwestern Polytechnical University; Chongqing University; Nanyang Technological University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3206135
• 发表日期: 2023
• 页码: 4191-4203
• 关键词: Global adaptive consensus; uncertain multiagent systems (MAS); unknown nonlinearities

摘要

In this article, distributed control of uncertain multiagent systems (MAS) with completely unknown nonlinearities, unknown time-varying control coefficients, and multiple unknown control directions is investigated. First, a new theorem with a series of novel Nussbaum functions are presented, which solve the outstanding problem in control of nonlinear systems with unknown time-varying control coefficients and unknown signs. Second, global consensus of MAS with unknown time-varying control coefficients and unknown system nonlinearities under directed graph is first achieved, and the transient tracking performance is also guaranteed. Third, a novel filter is proposed for each agent which does not require a prior knowledge of time derivative of leader. Finally, simulation results show the effectiveness of the proposed control schemes.