Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 48, Issue 8, Pages 2349-2356Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2017.2737652
Keywords
Consensus control; distributed coordination control; high-order nonlinear systems; Nussbaum function; unknown control directions
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Funding
- National Natural Science Foundation of China [61773081, 61703061]
- Fundamental Research Funds for the Central Universities [106112017CDJXY170002, 106112017CDJQJ178827]
- Technology Transformation Program of Chongqing Higher Education University [KJZH17102]
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In this paper, we investigate the adaptive consensus control for a class of high-order nonlinear systems with different unknown control directions where communications among the agents are represented by a directed graph. Based on backstepping technique, a fully distributed adaptive control approach is proposed without using global information of the topology. Meanwhile, a novel Nussbaum-type function is proposed to address the consensus control with unknown control directions. It is proved that boundedness of all closed-loop signals and asymptotically consensus tracking for all the agents' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme.
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