Leader‐following consensus control of second‐order nonlinear multi‐agent systems with applications to slew rate control

This paper addresses the distributed leader‐following consensus control of second‐order strict‐feedback nonlinear multi‐agent systems. By employing mean value theorem, variable separation technique, and backstepping methodology, a fully distributed adaptive control law is designed using only local r...

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Bibliographic Details
Published in:	Asian journal of control Vol. 25; no. 3; pp. 2286 - 2294
Main Authors:	Wang, Chuanrui, Zhang, Lei, Cao, Feng
Format:	Journal Article
Language:	English
Published:	Hoboken Wiley Subscription Services, Inc 01-05-2023
Subjects:	Adaptive control backstepping Control theory Differential calculus directed topology Graph theory Ground effect machines multi‐agent systems nonlinear systems Slew rate
Online Access:	Get full text
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Summary:	This paper addresses the distributed leader‐following consensus control of second‐order strict‐feedback nonlinear multi‐agent systems. By employing mean value theorem, variable separation technique, and backstepping methodology, a fully distributed adaptive control law is designed using only local relative state information. The proposed control law solves the leader‐following consensus problem for any directed communication graph that contains a spanning tree with the root node being the leader agent. The application to hovercraft slew rate control system is given to verify the effectiveness of the theoretical results.
Bibliography:	Funding information Science and Technology Commission of Shanghai Municipality (No. 20dz1207001) and Project of Integrated Control System of a Ship of the Chinese Navy.
ISSN:	1561-8625 1934-6093
DOI:	10.1002/asjc.2925