DeepAI AI Chat
Log In Sign Up

A Separation-Based Methodology to Consensus Tracking of Switched High-Order Nonlinear Multi-Agent Systems

by   Maolong Lv, et al.
Southeast University
Delft University of Technology

This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems are intrinsically challenging as feedback linearization and backstepping methods successfully developed for low-order systems fail to work. At the same time, even the adding-one power-integrator methodology, well explored for the single-agent high-order case, presents some complexity issues and is unsuited for distributed control. At the core of the proposed distributed methodology is a newly proposed definition for separable functions: this definition allows the formulation of a separation-based lemma to handle the high-order terms with reduced complexity in the control design. Complexity is reduced in a twofold sense: the control gain of each virtual control law does not have to be incorporated in the next virtual control law iteratively, thus leading to a simpler expression of the control laws; the order of the virtual control gains increases only proportionally (rather than exponentially) with the order of the systems, dramatically reducing high-gain issues.


Optimal output consensus for nonlinear multi-agent systems with both static and dynamic uncertainties

In this technical note, we investigate an optimal output consensus probl...

Fixed-Time Cooperative Tracking Control for Double-Integrator Multi-Agent Systems: A Time-Based Generator Approach

In this paper, both the fixed-time distributed consensus tracking and th...

Distributed optimal steady-state regulation for high-order multi-agent systems with external disturbances

In this paper, a distributed optimal steady-state regulation problem is ...

Optimal output consensus of high-order multi-agent systems with embedded technique

In this paper, we study an optimal output consensus problem for a multia...

Distributed optimization for a class of high-order nonlinear multi-agent systems with unknown dynamics

In this paper, we study a distributed optimization problem for a class o...

Adaptive guaranteed-performance consensus design for high-order multiagent systems

The current paper addresses the distributed guaranteed-performance conse...

Stable Gaussian Process based Tracking Control of Euler-Lagrange Systems

Perfect tracking control for real-world Euler-Lagrange systems is challe...