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

• Main Authors: Liu, Zongcheng, Huang, Jiangshuai, Wen, Changyun, Su, Xiaojie
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Global Adaptive Consensus; Unknown Nonlinearities
• Online Access: https://hdl.handle.net/10356/163766
• Institution: Nanyang Technological University

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.