Output Consensus Control of Multiagent Systems With Unknown Nonlinear Dead Zone
Output Consensus Control of Multiagent Systems With Unknown Nonlinear Dead Zone
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DOI：
10.1109/tsmc.2015.2503380
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发表时间：
2016-10
期刊：
影响因子：
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通讯作者：
Qikun Shen;P. Shi
中科院分区：
文献类型：
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作者：
Qikun Shen;P. Shi
研究了具有未知非线性死区的不确定二阶非线性多智能体系统的输出一致性控制问题，其中通信网络可以描述为具有固定拓扑的有向图.每个跟随器的控制输入被假定为服从未知的非线性死区。利用神经网络的函数逼近能力，为图中的每个跟随者设计了一个分布式自适应神经网络控制器，使得所有跟随者的输出都能渐近同步于领导者的输出，且同步误差是半全局一致最终有界的.基于李雅普诺夫稳定性理论和代数图论，对算法的稳定性和参数收敛性进行了分析。最后，通过算例验证了理论分析的正确性.
This paper investigates the output consensus control problem of uncertain second-order nonlinear multiagent systems with unknown nonlinear dead zone, where the communication networks can be described as a directed graph with a fixed topology. The control input in each follower is assumed to be subject to unknown nonlinear dead zone. By the function approximation capability of neural networks (NNs), a distributed adaptive NN-based controller is designed for each follower in the graph such that all the outputs of the followers can asymptotically synchronize to the output of the leader with synchronization errors being semiglobally uniformly ultimately bounded. Based on Lyapunov stability theory and algebraic graph theory, analysis is conducted on stability and parameter convergence of the proposed algorithm. Finally, an example is provided to validate the theoretical results.