Cooperative tracking for high‐order non‐linear multi‐agent systems via adaptive control
Qi Wang, Junjie Fu, Jinzhi Wang · IET Control Theory and Applications · 2018
This work studies the cooperative tracking problem for high‐order non‐linear multi‐agent systems under a directed communication topology. The state and input of the leader are bounded. Distributed adaptive non‐linear protocols based on the relative states of neighbouring agents are proposed, which can ensure the states of the followers converge to the state of the leader under the assumption that the directed communication topology contains a spanning tree with the root node being the leader agent. The distinctive features of this work are that the authors do not put Lipschitz restrictions (globally Lipschitz or Lipschitz‐like condition) on non‐linear functions and the adaptive protocols here can be implemented in a fully distributed fashion without using any global information (such as the knowledge of eigenvalue information of the Laplacian matrix associated with the whole communication topology). The effectiveness of the proposed distributed controller is illustrated by simulating a flexible joint system.