NDLI: Consensus control of higher-order Lipschitz non-linear multi-agent systems based on backstepping method

Content Provider	IET Digital Library
Author	Li, Guipu Wang, Xiangyu Li, Shihua
Abstract	The consensus problem of higher-order Lipschitz non-linear multi-agent systems is studied. For the leaderless case, by using the backstepping method, a distributed recursive linear control scheme is proposed. In the recursive control design, based on feedback domination method, the Lipschitz conditions of the unknown non-linearities are organically used in the virtual controller design. The proposed recursive controllers guarantee that the leaderless multi-agent systems reach global consensus asymptotically. For the leader-follower case, first, baseline distributed recursive controllers are designed via backstepping method and feedback domination technique. Then with the baseline recursive controllers, a kind of linear sliding-mode surface and the corresponding sliding-mode controllers are proposed for the consensus tracking error system. Under the proposed sliding-mode controllers, the leader-follower multi-agent systems reach global consensus asymptotically. Besides, simulations verify the validity of the proposed distributed control algorithms for both cases.
Starting Page	490
Ending Page	498
Page Count	9
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 3, Feb (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2019.0207
Journal	IET Control Theory & Applications
Publisher Date	2019-10-28
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Backstepping Method Baseline Distributed Recursive Controller Baseline Recursive Controller Combinatorial Mathematics Consensus Tracking Error System Control Nonlinearities Control System Analysis Control System Synthesis Corresponding Sliding-mode Controller Distributed Control Distributed Control Algorithm Distributed Recursive Linear Control Scheme Feedback Feedback Domination Method Global Consensus Higher-order Lipschitz Nonlinear Multiagent System Leaderless Multiagent System Leader–follower Multiagent Systems Linear Sliding-mode Surface Linear System Lyapunov Method Multi-agent System Multi-robot System Multivariable Control System Nonlinear Control System Nonlinearities Recursive Control Design Robotics Stability in Control Theory Statistics Synthesis Method Variable Structure System Virtual Controller
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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