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- Title
Adaptive coordinated control of networked non-affine nonlinear systems with a non-autonomous nonlinear leader.
- Authors
Dong, Yi; Gu, Rongrong
- Abstract
This paper considers the coordinated control problem of the multi-agent system modeled by a class of time-varying non-affine nonlinear systems and a non-autonomous nonlinear leader system with an input, capable of adjusting the reference signal in real time. We first propose a dynamic nonlinear observer to estimate the state of the active leader system, which is fully distributed without any prior knowledge of the graph and the input. Then by further employing a special group of time-varying functions, an observer-based adaptive control law is constructed to asymptotically track the nonlinear reference signals, which are allowed to be arbitrarily different for each follower system. Our control law can be applied to solve the leader-following synchronization and formation problems of multiple non-affine and affine nonlinear systems, and the whole design is robust to actuator fault, time-varying uncertain parameters and the external disturbances, whose upper bounds can be arbitrarily large and unknown.
- Subjects
NONLINEAR systems; KNOWLEDGE graphs; MULTIAGENT systems; ADAPTIVE control systems; NONLINEAR control theory
- Publication
Nonlinear Dynamics, 2023, Vol 111, Issue 14, p13111
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-023-08549-w