Neural Network-Based Distributed Consensus Tracking Control for Nonlinear Multi-Agent Systems with Mismatched and Matched Disturbances

Abstract

In practice, disturbances, including model uncertainties and unknown external disturbances, are always widely present and have a significant impact on the cooperative control performance of a networked multi-agent system. In this work, the distributed consensus tracking control problem for a class of multi-agent systems subject to matched and mismatched uncertainties is addressed. In particular, the dynamics of the leader agent are modeled with uncertain terms, i.e., the leader’s higher-order information, such as velocity and acceleration, is unknown to all followers. To solve this problem, a robust consensus tracking control scheme that combines a neural network-based distributed observer, a barrier function-based disturbance observer, and a tracking controller based on the back-stepping method was developed in this study. Firstly, a neural network-based distributed observer is designed, which is able to achieve effective estimation of leader information by all followers. Secondly, a tracking controller was designed utilizing the back-stepping technique, and the boundedness of the closed-loop error system was proved using the Lyapunov-like theorem, which enables the followers to effectively track the leader’s trajectory. Meanwhile, a barrier function-based disturbance observer is proposed, which achieves the effective estimation of matched and mismatched uncertainties of followers. Finally, the effectiveness of the robust consensus tracking control method designed in this study was verified through numerical simulations.