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- Title
Distributed adaptive leader-following consensus control for a class of non-linear output feedback systems.
- Authors
Wang, Chuanrui; Sun, Hui; Zhang, Shuai
- Abstract
This paper deals with the leader-following consensus control for a class of parametric output feedback non-linear multi-agent systems. To design distributed control laws without using agent's own out information, non-linear functions of agent's own output are transformed into non-linear functions of relative output information using mean value theorem and variable separation technique. By introducing an input-driven filter and employing adaptive backstepping method, distributed adaptive non-linear control laws are designed using only relative output measurements. The proposed control law is also independent of the Laplacian matrix. Therefore, it can solve the leader-following consensus problem for any directed communication graph that contains a spanning tree with the root node being the leader agent. A numerical example is given to illustrate the effectiveness of the proposed scheme.
- Subjects
MEAN value theorems; SEPARATION of variables; LAPLACIAN matrices; DIRECTED graphs; ADAPTIVE filters; NONLINEAR functions; DISTRIBUTED algorithms; PSYCHOLOGICAL feedback
- Publication
IMA Journal of Mathematical Control & Information, 2022, Vol 39, Issue 4, p1157
- ISSN
0265-0754
- Publication type
Article
- DOI
10.1093/imamci/dnac026