Abstract
AbstractThis paper addresses the leader tracking control problem for heterogeneous uncertain nonlinear multi-agent systems sharing information via a communication network, modeled as a directed graph. To solve the problem, we propose a novel distributed PID-like control strategy which, enhanced with a Lyapunov-based adaption mechanism for the control parameters, is able to counteract the uncertainties acting on the agents dynamics. The stability analysis analytically proves the effectiveness of the proposed PID protocol in ensuring the leader-tracking as well as the boundedness of the adaptive control gains. Numerical simulations, involving both the synchronization control problem for nonlinear harmonic oscillators and the practical engineering problem of the cooperative driving for autonomous connected vehicles, confirm the theoretical derivation and disclose the capability of the proposed strategy in achieving the control objective.
Publisher
Springer Science and Business Media LLC
Subject
Electrical and Electronic Engineering,Applied Mathematics,Mechanical Engineering,Ocean Engineering,Aerospace Engineering,Control and Systems Engineering
Reference65 articles.
1. Adib Yaghmaie, F., Hengster Movric, K., Lewis, F.L., Su, R., Sebek, M.: $$h_\infty $$-output regulation of linear heterogeneous multiagent systems over switching graphs. Int. J. Robust Nonlinear Control 28(13), 3852–3870 (2018)
2. Alharbi, K.S.D.: Backstepping control and transformation of multi-input multi-output affine nonlinear systems into a strict feedback form (2019)
3. Briat, C.: Linear parameter-varying and time-delay systems. Analysis, observation, filtering & control 3 (2014)
4. Cai, H., Lewis, F.L., Hu, G., Huang, J.: The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems. Automatica 75, 299–305 (2017)
5. Chen, C., Lewis, F.L., Xie, K., Xie, S., Liu, Y.: Off-policy learning for adaptive optimal output synchronization of heterogeneous multi-agent systems. Automatica 119, 109081 (2020)
Cited by
17 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献