Paper Info
Title
Distributed Control of High-Order Nonlinear Input Constrained Multiagent Systems Using a Backstepping-Free Method.
Abstract
This paper presents novel cooperative tracking control for a class of input-constrained multiagent systems with a dynamic leader. Each follower agent is described by a high-order nonlinear dynamics in strict feedback form with input constraints. Our main contribution lies in presenting a system transformation method that can convert the input-constrained state feedback cooperative tracking control of agents into an unconstrained output feedback control of agents with dynamics in Brunovsky normal form. As a result, the original problem is simplified to be a simple stabilization of the transformed system for the agents. Thus, the use of the backstepping scheme is obviated, and the synthesis and computation are extremely simplified. It is strictly proved that all follower agents can synchronize to the leader with bounded synchronization errors, and all other signals in the closed-loop system are semi-global uniformly ultimately bounded. Finally, numerical analysis is carried out to validate the theoretical results and demonstrate the effectiveness of the proposed approach.
Year
DOI
Venue
2019
10.1109/TCYB.2018.2853623
IEEE transactions on cybernetics
Keywords
Field
DocType
Multi-agent systems,Nonlinear dynamical systems,Backstepping,Decentralized control,Synchronization
Synchronization,Backstepping,Mathematical optimization,Nonlinear system,Decentralised system,Multi-agent system,Mathematics,Computation,Bounded function,Strict-feedback form
Journal
Volume
Issue
ISSN
49
11
2168-2275
Citations 
PageRank 
References 
5
0.39
26
Authors
4
Name
Order
Citations
PageRank
Wenchao Meng118510.37
Qinmin Yang229523.86
Sarangapani Jagannathan3113694.89
Youxian Sun42707196.15