期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 30, 期 15, 页码 6229-6240出版社
WILEY
DOI: 10.1002/rnc.5083
关键词
adaptive control; directed graph; multiagent system; nonlinear systems; unknown control directions
资金
- National Key Research and Development Program of China [2019YFB1312002]
- National Natural Science Foundation of China [61703061]
- Natural Science Foundation of Ningbo [2018A610074]
- Ningbo 2025 Major Science and Technology Innovation Project [2018B10009]
This article solves the leaderless consensus problem of a class of uncertain nonlinear multiagent systems with unknown control directions and unknown system parameters. Without using the Nussbaum function approach, a novel control scheme is proposed by means of the switching mechanism. The control algorithm guarantees that consensus errors converge to the origin asymptotically, and the amplitude of the control signals is much smaller compared with those using Nussbaum functions. The simulation results illustrate the effectiveness of the proposed algorithm.
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