Consensus Tracking of Second-Order Autonomous Unmanned Systems With Nonlinear Dynamics Using Distributed Adaptive Control
Yanzhou Li, Yuanqing Wu, Shenghuang He, Yongkang Lu, Wenjian Zhong · 2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS) · 2021
The consensus tracking of second-order autonomous unmanned systems with nonlinear dynamics by using distributed adaptive control is studied in this paper. First, the consensus tracking problem is converted to the stability problem of error dynamic system. Second, the obtained error dynamic system is proved to be asymptotically stable by constructing suitable Lyapunov function. Third, the distributed consensus tracking controller and adaptive control law acting on the network topology are designed to achieve the consensus tracking of second-order autonomous unmanned systems. The theoretical results are verified by some simulations.