Tracking consensus of general nonlinear multi-agent systems with external disturbances under directed networks

He Wang, Zhengtao Ding, Xingho Yu

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    Abstract

    This paper considers the fully distributed tracking consensus problem for general nonlinear multi-agent systems with a leader whose control input is nonzero and bounded. First, a new class of distributed state observer for the leader is proposed without the knowledge of the upper bound of the leader’s input. Then, the situations that followers are affected by disturbances with unknown upper bound or disturbances generated by exosystems are investigated. Specifically, two distributed control protocols based on the distributed state observer, neural networks, and adaptive laws are proposed. Finally, simulation examples are provided to illustrate the theoretical results.
    Original languageEnglish
    JournalI E E E Transactions on Automatic Control
    Early online date15 Mar 2019
    DOIs
    Publication statusPublished - 2019

    Keywords

    • tracking consensus
    • General nonlinearity
    • external disturbances
    • unknown upper bound

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