Adaptive consensus output regulation of a class of nonlinear systems with unknown high-frequency gain

被引:185
|
作者
Ding, Zhengtao [1 ]
机构
[1] Univ Manchester, Control Syst Ctr, Sch Elect & Elect Engn, Manchester M13 9PL, Lancs, England
关键词
Adaptive control; Nonlinear systems; Consensus control; Output regulation; Disturbance rejection; MULTIAGENT SYSTEMS; TRACKING CONTROL; NETWORKS; SYNCHRONIZATION; INFORMATION; AGENTS;
D O I
10.1016/j.automatica.2014.10.079
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper deals with adaptive consensus output regulation of a class of network-connected nonlinear systems with completely unknown parameters, including the high frequency gains of the subsystems. The subsystems may have different dynamics, as long as the relative degrees are the same. A new type of Nussbaum gain is proposed to deal with adaptive consensus control of network-connected systems without any knowledge of the high frequency gains. Adaptive laws and internal models are designed for the subsystems to deal with unknown parameters for tracking trajectories and unknown system parameters. In the control design, only the relative information of subsystem outputs are used, provided that regulation error of one of the subsystems is available. The proposed control inputs and the adaptive laws are decentralized. If the relative degree is one, only the relative subsystem outputs are exchanged. For the case of higher relative degrees, the nonlinear model structure of the subsystems is exploited for backstepping control design, and some variables generated by the subsystem controllers are exchanged among the subsystems in the neighbourhood defined by the connection graph. (C) 2014 Elsevier Ltd. All rights reserved.
引用
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页码:348 / 355
页数:8
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