NDLI: Distributed consensus tracking for non-linear multi-agent systems with input saturation: a command filtered backstepping approach

Content Provider	IET Digital Library
Author	Cui, Guozeng Xu, Shengyuan Lewis, Frank L. Zhang, Baoyong Ma, Qian
Abstract	This study deals with the distributed consensus tracking problem for non-linear multi-agent systems under a fixed directed graph. The dynamics of the followers are taken as strict-feedback structures with unknown non-linearities and input saturation. Neural networks are utilised to identify a certain scalar related to the unknown non-linear functions, and an auxiliary system is introduced into the control design to compensate the effect of input saturation. By incorporating the command filtered technique into the backstepping design framework, a distributed consensus control scheme is constructed recursively. Using the Lyapunov stability theory, it is proved that all signals in the closed-loop systems are cooperatively semi-globally uniformly ultimately bounded and the consensus tracking errors converge to a small neighbourhood of origin by tuning the design parameters. Finally, simulation result demonstrates the effectiveness of the proposed control approach.
Starting Page	509
Ending Page	516
Page Count	8
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 5, Mar (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.0627
Journal	IET Control Theory & Applications
Publisher Date	2016-03-21
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Auxiliary System Backstepping Design Framework Closed Loop System Closed-loop System Combinatorial Mathematics Command Filtered Backstepping Approach Compensation Consensus Tracking Error Control Design Control Nonlinearities Control System Analysis Control System Synthesis Design Parameter Tuning Directed Graph Distributed Consensus Control Scheme Distributed Consensus Tracking Problem Distributed Control Feedback Fixed Directed Graph Followers Dynamics Input Saturation Lyapunov Method Lyapunov Stability Theorem Multi-agent System Neural Network Neurocontrol Neurocontrollers Nonlinear Control System Nonlinear Function Nonlinear Multiagent System Semiglobally Uniformly Ultimately Bounded Stability Stability in Control Theory Strict-feedback Structure Synthesis Method Unknown Nonlinear Function Unknown Nonlinearities
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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