Consensus Based Distributed Robust Adaptive Control for Second-Order Nonlinear Multi-agent Systems with Uncertainty
Shafiqul Islam, Toufik Al Khawli, Abdelaziz Alzaabi, Anderson Sunda‐Meya · 2018
In this paper, we investigate consensus based distributed robust adaptive tracking control strategy for second-order nonlinear multi-agent systems. The design only uses the states of the neighboring agents with directed communication topology in the presence of uncertainty. Robust and adaptive control algorithms are used for each agent to deal with uncertainty associated with leader input and follower agent dynamics. Lyapunov, Graph and sliding mode control theory uses to show that the proposed distributed cooperative design can reach an agreement with follower agents and track the states of the leader asymptotically. Analysis shows that robust consensus algorithm can force the states of the followers to track the sliding surface and remain there. In contrast with existing distributed design, the proposed consensus controller does not require the bound of the dynamical uncertainty and leader input for the follower agents. Evaluation results are presented to show the effectiveness of the proposed design for real-time application.