Distributed Adaptive Cooperative Control for a Class of Nonlinear Multi-Agent Systems with Input Saturation
Ming Qing Xiao, Zhitao Liu, Hongye Su · 2020
In this paper, the consensus control for a class of nonlinear multi-agent systems with input saturation is considered. A smooth function is used to approximate the saturation function for every agent, then by combining the adaptive backstepping method and Nussbaum function, a new distributed adaptive cooperative control method is proposed for the multi-agent system with input saturation. The consensus tracking errors of the multi-agent system are bounded, and the closed-loop system is globally stable. Simulation results of three-agents with input saturation shows the effectiveness and performance of the proposed method.