Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 49, Issue 4, Pages 1327-1338Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2018.2800297
Keywords
Bipartite tracking; hysteresis input uncertainty; multiagent system; prescribed performance; signed graph
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Funding
- NSAF [U1730105]
- National Natural Science Foundation of China [61773322, 61433011]
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This paper studies bipartite tracking problem of nonlinear multiagent systems over signed directed graphs. Each following agent is modeled by a higher-order nonlinear system in strict-feedback form with unknown dynamics and hysteresis input uncertainty. Both distributed state feedback and output feedback control laws are proposed to achieve bipartite tracking confined by the prescribed performance bounds. The proposed approximation-free distributed controllers only utilize error variables incorporating with performance bound functions, which lead to a low-complexity control algorithm. Moreover, the proposed control laws guarantee that all signals of the closed-loop system are uniformly ultimately bounded.
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