Distributed adaptive consensus tracking control for nonlinear multi-agent systems with state constraints

Yanhui Zhang, Hongjing Liang, Hui Ma, Qi Zhou and Zhandong Yu

Applied Mathematics and Computation, 2018, vol. 326, issue C, 16-32

Abstract: This paper investigates the consensus tracking problem of nonlinear multi-agent systems with state constraints and unknown disturbances. An observer is presented for the case that the states of each follower and its neighbors are unmeasurable. State constraint for multi-agent systems is a challenging problem. Barrier Lyapunov functions are applied in this paper to deal with this difficulty. Then based on adaptive back-stepping control approach and dynamic surface control technique, an adaptive fuzzy distributed controller is proposed to guarantee that the tracking errors between all followers and the leader converge to a small neighborhood of the origin. Moreover, it is proved that all the signals in the multi-agent systems are semi-globally uniformly ultimately bounded (SUUB). Finally, some numerical simulation results are presented to testify the effectiveness of the proposed algorithm.

Keywords: Cooperative control; Adaptive fuzzy control; Multi-agent systems; State constraint (search for similar items in EconPapers)
Date: 2018
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (12)

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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:326:y:2018:i:c:p:16-32

DOI: 10.1016/j.amc.2017.12.038

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