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Distributed Switching Learning Control for Nonlinear Multi-agent Systems with Unknown Control Directions and Input Disturbances | IEEE Conference Publication | IEEE Xplore

Distributed Switching Learning Control for Nonlinear Multi-agent Systems with Unknown Control Directions and Input Disturbances


Abstract:

In this paper, we studies the leader-following consensus for a class of uncertain nonlinear multi-agent systems (N-MASs) via switching learning control method. The novelt...Show More

Abstract:

In this paper, we studies the leader-following consensus for a class of uncertain nonlinear multi-agent systems (N-MASs) via switching learning control method. The novelties are reflected in the unknown input disturbances, unknown Lipschitz rate and unknown control directions. These unknowns make the consensus problem different from the existing related literature. To capture these unknowns, we propose a distributed consensus protocol based on a switching logic scheme, which guarantees the leader-following consensus.
Date of Conference: 24-27 May 2019
Date Added to IEEE Xplore: 25 November 2019
ISBN Information:
Conference Location: Dali, China

1 Introduction and Problem Formulation

Consider the following nonlinear multi-agent systems consisting of one leader and followers. The dynamics of the leader is described by \begin{equation*} \dot{x}_{0}\ =\ f(t, x_{0}), \tag{1} \end{equation*}

where is the state of the leader, and is continuous and Lipschitz respectively in the first and second argument. The dynamics of the followers is described by \begin{equation*} \dot{x}_{i} = g_{i}(u_{i}+d_{i}(t))+f(t, x_{i}), i=1, \ldots, N, \tag{2} \end{equation*}
where and represent the state and control input of the -th follower, respectively; 's are called control coefficients and the sign of 's is called control direction; 's are input disturbances.

References

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