Distributed control of nonlinear systems with unknown time-varying control coefficients: a novel Nussbaum function approach
In this paper, distributed control of uncertain multi-agent systems (MAS) with completely unknown nonlinearities, unknown time-varying control coefficients and multiple unknown control directions is investigated. Firstly, a new theorem with a series of novel Nussbaum functions are presented, which s...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/163766 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | In this paper, distributed control of uncertain multi-agent systems (MAS) with completely unknown nonlinearities, unknown time-varying control coefficients and multiple unknown control directions is investigated. Firstly, a new theorem with a series of novel Nussbaum functions are presented, which solve the outstanding problem in control of nonlinear systems with unknown time-varying control coefficients and unknown signs. Secondly, global consensus of MAS with unknown time-varying control coefficients and unknown system nonlinearities under directed graph is firstly achieved, and the transient tracking performance is also guaranteed. Thirdly, a novel filter is proposed for each agent which does not require a prior knowledge of time derivative of leader. Finally, simulation results show the effectiveness of the proposed control schemes. |
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