Distributed Robust Adaptive Consensus Control for Uncertain Nonlinear Multi-Agent Systems With Output Constraints
Keli Liu, Zong‐Yao Sun, Jiao-Jiao Li, Chih‐Chiang Chen · IEEE Transactions on Automation Science and Engineering · 2025
This paper tackles the consensus tracking control challenge for a category of uncertain nonlinear multi-agent systems subject to unknown time-varying disturbances and output constraints. Even if only a portion of followers can directly receive the leader’s information, by developing a new barrier Lyapunov function and integrating it with the backstepping technique, a distributed robust adaptive state feedback controller is developed, which not only guarantees that the system outputs remain within prescribed constraints but also ensures that the output error between any two followers and the tracking error converge to the origin asymptotically. Neither control design nor theoretical analysis relies on eigenvalue information of Laplacian, thus eliminating the demand for global information and enhancing the utilization efficiency of local communication resources. The effectiveness of the control strategy is ultimately demonstrated through a practical example of single-link manipulators.