UM
Adaptive Consensus of Nonlinear Multi-Agent Systems With Non-Identical Partially Unknown Control Directions and Bounded Modelling Errors
Chen, Ci; Wen, Changyun; Liu, Zhi; Xie, Kan; Zhang, Yun; Chen, C. L. Philip
2017-09
Source PublicationIEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN0018-9286
Volume62Issue:9Pages:4654-4659
AbstractExisting Nussbaum function based results on consensus of multi-agent systems require that the unknown control directions of all the agents should be the same. This note proposes an adaptive method to relax such a requirement to allow non-identical control directions, under the condition that some control directions are known. Technically, a novel idea is proposed to construct a new Nussbaum function, from which a conditional inequality is developed to handle time-varying input gains. Then, the inequality is integrated with adaptive control technique such that the proposed Nussbaum function for each agent is adaptively updated. Moreover, in addition to parametric uncertainties, each agent has non-parametric boundedmodelling errors which may include external disturbances and approximation errors of static input nonlinearities. Even in the presence of such uncertainties, the proposed control scheme is still able to ensure the states of all the agents asymptotically reach perfect consensus. Finally, simulation study is performed to show the effectiveness of the proposed approach.
KeywordAdaptive consensus multi-agent system non-identical control directions partially unknown
DOI10.1109/TAC.2016.2628204
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000408569300030
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
The Source to ArticleWOS
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Cited Times [WOS]:49   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Chen, Ci,Wen, Changyun,Liu, Zhi,et al. Adaptive Consensus of Nonlinear Multi-Agent Systems With Non-Identical Partially Unknown Control Directions and Bounded Modelling Errors[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL,2017,62(9):4654-4659.
APA Chen, Ci,Wen, Changyun,Liu, Zhi,Xie, Kan,Zhang, Yun,&Chen, C. L. Philip.(2017).Adaptive Consensus of Nonlinear Multi-Agent Systems With Non-Identical Partially Unknown Control Directions and Bounded Modelling Errors.IEEE TRANSACTIONS ON AUTOMATIC CONTROL,62(9),4654-4659.
MLA Chen, Ci,et al."Adaptive Consensus of Nonlinear Multi-Agent Systems With Non-Identical Partially Unknown Control Directions and Bounded Modelling Errors".IEEE TRANSACTIONS ON AUTOMATIC CONTROL 62.9(2017):4654-4659.
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