Affiliation:
1. School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 261201, China
Abstract
This study presents a modified compensating observer control strategy for nonlinear multi-agent systems affected by unknown hysteresis signal loops. Compared to conventional high-gain observers, this approach introduces a novel compensation signal, effectively reducing the tracking error of traditional observers. Then, by utilizing a backstepping method, an adaptive output feedback controller is designed, such that the tracking error converges to the small neighborhood around the origin. Simulation experiments with and without the compensation term demonstrate that this control strategy can effectively reduce error, but it increases input chattering to some extent.