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Output-feedback adaptive consensus tracking control for a class of high-order nonlinear multi-agent systems.
- Source :
-
International Journal of Robust & Nonlinear Control . Dec2017, Vol. 27 Issue 18, p4931-4948. 18p. - Publication Year :
- 2017
-
Abstract
- In this paper, an output-feedback adaptive consensus tracking control scheme is proposed for a class of high-order nonlinear multi-agent systems. The agents are allowed to have unknown parameters, unknown nonlinearities, and input quantization simultaneously. The desired trajectory to be tracked is available for only a subset of agents, and only the relative outputs and the quantized inputs need to be measured or transmitted as signal exchange among neighbors regardless of the system order. By introducing a kind of high-gain K-filters and a smooth function, the effect among agents caused by the unknown nonlinearities is successfully counteracted, and all closed-loop signals are proved to be globally uniformly bounded. Moreover, it is shown that the tracking errors converge to a residual set that can be made arbitrarily small. Simulation results on robot manipulators are presented to illustrate the effectiveness of the proposed scheme. Copyright © 2017 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 10498923
- Volume :
- 27
- Issue :
- 18
- Database :
- Academic Search Index
- Journal :
- International Journal of Robust & Nonlinear Control
- Publication Type :
- Academic Journal
- Accession number :
- 126316467
- Full Text :
- https://doi.org/10.1002/rnc.3837