Robust control of multi-agent nonlinear systems with unknown communication time delay
Фуртат Игорь Борисович, Evgeny A. Tupichin · 2017
The paper describes a control algorithm for multi-agent systems with nonlinear single input single output (SISO) plants under unknown parameters, external disturbances and unknown time delays. The control system of each agent is used a filter of dimension n, where n is a dynamical order of the plant. The derivatives of stabilizing controls are implemented by first order observers. The proposed algorithm ensures the small difference between output of the plant and the reference signal. Simulations illustrate an efficiency of proposed scheme for a multi-agent system consists of one hundred nonlinear unstable agents with time delays and communication time delays.