Distributed consensus control of nonlinear multi-agent systems with sensor uncertainty
This article focuses on the distributed consensus control problem for nonlinear multi-agent systems subject to sensor uncertainty. To be specific, we study nonlinear multi-agent systems of lower or upper triangular structure with unknown growth rate and sensor uncertainty. A new time-varying gain ap...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/164658 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This article focuses on the distributed consensus control problem for nonlinear multi-agent systems subject to sensor uncertainty. To be specific, we study nonlinear multi-agent systems of lower or upper triangular structure with unknown growth rate and sensor uncertainty. A new time-varying gain approach is proposed to construct observers as well as distributed output-feedback controllers. By selecting suitable design parameters, the leader-follower consensus of nonlinear multi-agent systems is achieved. Different from the existing results, a time-varying function in a logarithmic form is introduced to deal with unknown growth rate. Moreover, a monotonically increasing time-varying function is constructed to cope with uncertain sensor sensitivity. Two simulation examples are provided to demonstrate the effectiveness of the proposed distributed consensus control algorithms. |
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