NDLI: Decentralized adaptive consensus control of uncertain nonlinear systems under directed topologies

Content Provider	IEEE Xplore Digital Library
Author	Wei Wang Jiangshuai Huang Huijin Fan Wei Jiang
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Jiangshuai Huang) \|\| Sch. of Autom., Huazhong Univ. of Sci. & Technol., Wuhan, China (Huijin Fan) \|\| Sch. of Transp. Sci. & Eng., Beihang Univ., Beijing, China (Wei Jiang) \|\| Dept. of Autom., Tsinghua Univ., Beijing, China (Wei Wang)
Abstract	In this paper, a decentralized adaptive backstepping control strategy is presented to solve leaderless and leader-following consensus problems for the outputs of nonlinear multi-agent systems with arbitrary subsystem orders and parametric uncertainties. Suppose that the information exchange conditions among distinct subsystems in the entire group can be represented by a directed topology and the corresponding connectivity matrix is unknown to each subsystem. In contrast to most of the existing results, Lyapunov function is not defined directly based on local consensus errors in all subsystems with the output information of their neighbors involved. Thus the difficulties in treating coupled terms related to local consensus errors and other subsystems' parameter estimation errors, which are resulted from asymmetric property of directed graph, can be overcome. It is shown that with our proposed strategy, all the closed-loop signals are ensured uniformly ultimately bounded and asymptotical consensus can be achieved.
Starting Page	7090
Ending Page	7095
File Size	274015
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260761
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Adaptation models Uncertainty Adaptive Control Multi-agent Systems Directed Topology Topology Electronic mail Adaptive control Parametric Uncertainties Information exchange Consensus
Content Type	Text
Resource Type	Article

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