Neuro-Based Consensus Seeking for Nonlinear Uncertainty Multi-Agent Systems Constrained by Dead-Zone Input

Abstract

The topic about consensus target track seeking for high-order nonlinear multi-agent systems (MASs) with unmodeled dynamics, dynamic disturbances, and dead-zone input is considered in the paper. Using the strong nonlinear map characteristic of radial basis function neural networks (RBFNNs), the complex functions arising from recursive procedure are simplified. Also, inspired by input-to-state practical stability (ISpS), the authors construct a dynamical signal in order to counteract the impact of unmodeled dynamics and dynamic disturbances. The bounded inequality expression has been applied to tackle the unknown input of dead zone. Based on this, consensus control protocol suitable for nonlinear constraints has been constructed by using the recursive backstepping technique and adaptive neural network method. Theoretical analysis indicates not only the uniform boundary of all signals in the closed-loop under the neuro-based consensus controller, but uniform ultimate convergence of consensus tracking errors. The final simulations also confirmed the correctness of the theoretical analysis.