Adaptive Output Consensus With Saturation and Dead-Zone and Its Application

In this paper, the output consensus problem of multiple nonlinear systems on directed graph with a fixed topology is studied. It is assumed that all followers are subject to saturation and dead-zone input. Using the function approximation capability of neural networks together with the backstepping design technique, a distributed adaptive control scheme is proposed to guarantee that all the outputs of the followers in the graph asymptotically synchronize to the output of a leader with synchronization errors converging to the origin regardless of the system unknown dynamics and external disturbances. Based on the algebraic graph theory and Lyapunov theory, stability analysis of the resulting closed-loop system is conducted. Finally, simulation results of autonomous underwater vehicles illustrate the effectiveness and potential of the new approach developed in the paper.