期刊
AUTOMATICA
卷 83, 期 -, 页码 361-367出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2017.06.025
关键词
Distributed coordination; Adaptive control; Multi-agent systems; Time-varying reference
资金
- Chongqing higher education university [KJZH17102]
- Fundamental Research Funds for the Central Universities [106112017CD-JXY170002]
In this paper, we investigate the distributed adaptive leader-following consensus control for high-order nonlinear multi-agent systems with time-varying reference trajectory under directed topology subjected to mismatched unknown parameters and uncertain external disturbances. By introducing local estimators for the bounds of reference trajectory and a filter for each agent, a new backstepping based smooth distributed adaptive control protocol is proposed. It is shown that global uniform boundedness of all the closed-loop signals and asymptotically output consensus tracking can be achieved. Simulation results are provided to verify the effectiveness of our scheme. (C) 2017 Elsevier Ltd. All rights reserved.
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