Cooperative Output Regulation for Uncertain Nonlinear Multi-Agent Systems with Unknown Control Directions

被引：2

作者：

Guo, Meichen ^{[1
]}

Xu, Dabo ^{[2
]}

Liu, Lu ^{[1
]}

Feng, Gang ^{[1
]}

机构：

[1] City Univ Hong Kong, Dept Mech & Biomed Engn, Kowloon, Hong Kong, Peoples R China

[2] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210091, Jiangsu, Peoples R China

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 18期

关键词：

Output regulation; multi-agent systems; nonlinear systems; cooperative control; adaptive control; ADAPTIVE CONSENSUS; CONVERGENCE; AGENTS;

D O I：

10.1016/j.ifacol.2016.10.197

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 concerns the global cooperative output regulation problem for a class of nonlinear multi-agent systems with unknown control directions and unknown exosystem. The communication among agents makes it difficult to implement the Nussbaum gain technique to handle the non-identical unknown control directions. Moreover, the unknown parameter in the exosystem, which cannot be easily handled by the estimators in existing results, makes our problem more intricate. To overcome these challenges, we employ a novel internal model candidate to develop a two-layer control scheme for an adaptive distributed controller design. Theoretic stability analysis is presented and a numerical example is given to show the effectiveness of the proposed controller. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：392 / 397

页数：6

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