Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach
In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory...
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sg-ntu-dr.10356-1521092021-09-10T07:57:41Z Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach Huang, Jiangshuai Wang, Wei Wen, Changyun Zhou, Jing Li, Guoqi School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Adaptive Control Distributed Consensus Control In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory variable is generated based on the signals collected from its neighbors. Such a technique enables us to solve the leader–follower consensus and leaderless consensus problems in a unified framework. And it further allows us to treat the leaderless consensus as a special case of the leader–follower consensus. For leader–follower consensus, the assumption that the leader trajectory is linearly parameterized with some known functions as required in most recent relevant literatures is successfully relaxed. It is shown that global uniform boundedness of all closed-loop signals and asymptotically output consensus could be achieved for both cases. Simulation results are provided to verify the effectiveness of our schemes. This work was supported by National Key Research and Development Program of China under grants no. 2019YFB1312002, 2018AAA0101100, and National Natural Science Foundation of China under Grants 61973017, 61673035, and 61703061. 2021-09-10T07:57:41Z 2021-09-10T07:57:41Z 2020 Journal Article Huang, J., Wang, W., Wen, C., Zhou, J. & Li, G. (2020). Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach. Automatica, 118, 109021-. https://dx.doi.org/10.1016/j.automatica.2020.109021 0005-1098 https://hdl.handle.net/10356/152109 10.1016/j.automatica.2020.109021 2-s2.0-85084487667 118 109021 en Automatica © 2020 Elsevier Ltd. All rights reserved. |
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Engineering::Electrical and electronic engineering Adaptive Control Distributed Consensus Control Huang, Jiangshuai Wang, Wei Wen, Changyun Zhou, Jing Li, Guoqi Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach |
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In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory variable is generated based on the signals collected from its neighbors. Such a technique enables us to solve the leader–follower consensus and leaderless consensus problems in a unified framework. And it further allows us to treat the leaderless consensus as a special case of the leader–follower consensus. For leader–follower consensus, the assumption that the leader trajectory is linearly parameterized with some known functions as required in most recent relevant literatures is successfully relaxed. It is shown that global uniform boundedness of all closed-loop signals and asymptotically output consensus could be achieved for both cases. Simulation results are provided to verify the effectiveness of our schemes. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Huang, Jiangshuai Wang, Wei Wen, Changyun Zhou, Jing Li, Guoqi |
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Article |
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Huang, Jiangshuai Wang, Wei Wen, Changyun Zhou, Jing Li, Guoqi |
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Huang, Jiangshuai |
title |
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach |
title_short |
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach |
title_full |
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach |
title_fullStr |
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach |
title_full_unstemmed |
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach |
title_sort |
distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach |
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2021 |
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https://hdl.handle.net/10356/152109 |
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1710686925810040832 |