TY - GEN
T1 - Performance Guaranteed Control for Multi-Agent Systems with Unknown Control Directions
AU - Fan, Bo
AU - Yang, Qinmin
AU - Li, Jinglan
AU - Sun, Youxian
N1 - Funding Information:
This work is supported by the National Natural Science Foundation of China (U1609214, 61673347, 61751205).
Publisher Copyright:
© 2018 IEEE.
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019/1/18
Y1 - 2019/1/18
N2 - In this paper, a performance guaranteed control algorithm is presented for the consensus control of a class of unknown nonlinear multi-agent systems (MASs) with unknown control directions. It is shown that the states of agents stay within prescribed time-varying restrictions for all time. To attain these new results, an equivalent unconstrained MAS is generated from the original constrained one via a state transformation technique. Stabilization and consensus of the transformed agent states ensure both the consensus of the original agent states as well as the satisfaction of the prescribed restrictions. Based on the Nussbaum gain technique, the unknown control direction problem is solved. Consensus task is achieved theoretically via using Lyapunov synthesis, along with all the closed-loop signals being bounded. Additionally, in the proposed control design, each agent only exchanges the information with its neighbours. Hence, the proposed consensus protocol is distributed. Finally, simulation results demonstrate the effectiveness of the developed controller.
AB - In this paper, a performance guaranteed control algorithm is presented for the consensus control of a class of unknown nonlinear multi-agent systems (MASs) with unknown control directions. It is shown that the states of agents stay within prescribed time-varying restrictions for all time. To attain these new results, an equivalent unconstrained MAS is generated from the original constrained one via a state transformation technique. Stabilization and consensus of the transformed agent states ensure both the consensus of the original agent states as well as the satisfaction of the prescribed restrictions. Based on the Nussbaum gain technique, the unknown control direction problem is solved. Consensus task is achieved theoretically via using Lyapunov synthesis, along with all the closed-loop signals being bounded. Additionally, in the proposed control design, each agent only exchanges the information with its neighbours. Hence, the proposed consensus protocol is distributed. Finally, simulation results demonstrate the effectiveness of the developed controller.
UR - http://www.scopus.com/inward/record.url?scp=85062179563&partnerID=8YFLogxK
U2 - 10.1109/CDC.2018.8619586
DO - 10.1109/CDC.2018.8619586
M3 - Article in proceeding
AN - SCOPUS:85062179563
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 620
EP - 625
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - IEEE (Institute of Electrical and Electronics Engineers)
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -