Title | ||
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Fully distributed adaptive consensus control for a class of nonlinear systems of directed topology |
Abstract | ||
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In this paper, we investigate the problem of consensus tracking of a desired trajectory for a class of nonlinear systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics with similar structures and the same yet arbitrary system order. Suppose that the communications among the subsystems can be represented by a directed graph. A fully distributed adaptive control approach based on a backstepping technique that is different from most of the existing results is proposed, which does not use global information as a parameter of the topology. It is proved that boundedness of all closed-loop signals and asymptotic consensus tracking for all the subsystems' outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme. Moreover, the design strategy is successfully applied to solve a formation control problem for multiple underactuated ships. |
Year | DOI | Venue |
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2018 | 10.1177/0142331216663824 | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL |
Keywords | DocType | Volume |
Distributed coordination,adaptive control,consensus tracking,nonlinear systems,underactuated ships | Journal | 40.0 |
Issue | ISSN | Citations |
2 | 0142-3312 | 1 |
PageRank | References | Authors |
0.35 | 16 | 3 |
Name | Order | Citations | PageRank |
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Jiangshuai Huang | 1 | 386 | 18.80 |
Wei Wang | 2 | 2 | 0.70 |
Qing-Guo Wang | 3 | 457 | 29.36 |