Synchronisation of high-order MIMO nonlinear systems using distributed neuro-adaptive control
Hassan Ghiti Sarand, Bahram Karimi · International Journal of Systems Science · 2014
This paper addresses synchronisation problem of high-order multi-input/multi-output (MIMO) multi-agent systems. Each agent has unknown nonlinear dynamics and is subject to uncertain external disturbances. The agents must follow a reference trajectory. An adaptive distributed controller based on relative information of neighbours of each agent is designed to solve the problem for any undirected connected communication topology. A radial basis function neural network is used to represent the controller's unknown structure. Lyapunov stability analysis is employed to guarantee stability of the overall system. By the theoretical analysis, the closed-loop control system is shown to be uniformly ultimately bounded. Finally, simulations are provided to show effectiveness of the proposed control method against uncertainty and disturbances.