Distributed adaptive consensus tracking control for heterogeneous nonlinear multi-agent systems

In this study, our focus is to resolve the consensus problem of heterogeneous nonlinear multi-agent systems. As only some agents access reference information directly, the proposed distributed adaptive consensus controller uses only local information, by employing the command filtered backstepping approach. The uniform, ultimate boundedness of all closed-loop signals and the convergence of con-sensus tracking error to a small tunable compact set can be obtained using our proposed mechanism. Finally, the formation-tracking problem of nonholonomic unmanned aerial vehicles is solved with the suggested control algorithm. (c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.

Automated summary

The focus of this study is to address the consensus problem in heterogeneous nonlinear multi-agent systems. A distributed adaptive consensus controller is proposed, which utilizes only local information and employs the command filtered backstepping approach, as only some agents have direct access to reference information. Our proposed mechanism ensures the uniform and ultimate boundedness of all closed-loop signals, and it ensures the convergence of consensus tracking error to a small tunable compact set. Furthermore, the suggested control algorithm solves the formation-tracking problem of nonholonomic unmanned aerial vehicles.