Command filtered backstepping tracking control of uncertain nonlinear strict-feedback systems under a directed graph
Yi Zhang, Guozeng Cui, Guangming Zhuang, Junwei Lu, Ze Li · Transactions of the Institute of Measurement and Control · 2016
This paper studies the distributed consensus tracking control problem of multiple uncertain non-linear strict-feedback systems under a directed graph. The command filtered backstepping approach is utilised to alleviate computation burdens and construct distributed controllers, which involves compensated signals eliminating filtered error effects in the design procedure. Neural networks are employed to estimate uncertain non-linear items. Using a Lyapunov stability theorem, it is proved that all signals in the closed-looped systems are semi-globally uniformly ultimately bounded. In addition, consensus errors converge to a small neighbourhood of the origin by adjusting the appropriate design parameters. Finally, simulation results are presented to demonstrate the effectiveness of the developed control design approach.