Fully distributed adaptive consensus control of a class of high-order nonlinear systems with a directed topology and unknown control directions

• Main Authors: Huang, Jiangshuai, Song, Yongduan, Wang, Wei, Wen, Changyun, Li, Guoqi
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Consensus Control; Distributed Coordination Control
• Online Access: https://hdl.handle.net/10356/139913
• Institution: Nanyang Technological University

In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.