NDLI: Cooperative tracking for high-order non-linear multi-agent systems via adaptive control

Content Provider	IET Digital Library
Author	Wang, Qi Fu, Junjie Wang, Jinzhi
Abstract	This work studies the cooperative tracking problem for high-order non-linear multi-agent systems under a directed communication topology. The state and input of the leader are bounded. Distributed adaptive non-linear protocols based on the relative states of neighbouring agents are proposed, which can ensure the states of the followers converge to the state of the leader under the assumption that the directed communication topology contains a spanning tree with the root node being the leader agent. The distinctive features of this work are that the authors do not put Lipschitz restrictions (globally Lipschitz or Lipschitz-like condition) on non-linear functions and the adaptive protocols here can be implemented in a fully distributed fashion without using any global information (such as the knowledge of eigenvalue information of the Laplacian matrix associated with the whole communication topology). The effectiveness of the proposed distributed controller is illustrated by simulating a flexible joint system.
Starting Page	1592
Ending Page	1600
Page Count	9
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 11, Jul (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.1360
Journal	IET Control Theory & Applications
Publisher Date	2018-04-03
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Control Adaptive Protocols Algebra Combinatorial Mathematics Cooperative Tracking Directed Communication Topology Directed Graph Distributed Adaptive Nonlinear Protocols Distributed Control Distributed Controller Eigen Values And Eigen Function Eigenvalue Information Flexible Joint System High-order Nonlinear Multiagent Laplacian Matrix Leader Agent Mathematics Matrix Algebra Multi-agent System Multivariable Control System Neighbouring Agent Nonlinear Control System Nonlinear Function Protocol Relative State Root Node Self Adjusting Control System Spanning Tree Trees
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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