Distributed control of nonlinear systems with unknown time-varying control coefficients: a novel Nussbaum function approach

• المؤلفون الرئيسيون: Liu, Zongcheng, Huang, Jiangshuai, Wen, Changyun, Su, Xiaojie
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2022
• الموضوعات: Engineering::Electrical and electronic engineering; Global Adaptive Consensus; Unknown Nonlinearities
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/163766

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.