A Simple Distributed Adaptive Consensus Tracking Control of High Order Nonlinear Multi-Agent Systems
Najmeh Zamani, Javad Askari, Marzieh Kamali · 2019
Recently, consensus tracking control of a higher order multi agent nonlinear system has become an interesting problem. In order to solve the explosion of design complexity, in this paper the Dynamic Surface Control (DSC) approach is used to present a new consensus method for an unknown multi agent high order nonlinear systems with uncertain disturbances. Compared to previous methods, the computational burden of the distributed adaptive control scheme is significantly reduced and a simpler distributed adaptive control scheme is designed. Moreover, unknown multi agent nonlinear system is estimated without using fuzzy logic systems or neural networks, thus the number of tuned parameters is significantly reduced. Finally, the global uniform boundedness of all the closed-loop signals and the convergence of the distributed consensus tracking errors to a small boundedness of the origin are proved. Simulation results verified that the proposed controller is effective and appropriate.