Adaptive consensus of nonlinear multi-agent systems with unknown backlash-like hysteresis

作者：Chen, Kairui; Wang, Junwei^*; Zhang, Yun; Liu, Zhi

来源：Neurocomputing, 2016, 175: 698-703.

DOI：10.1016/j.neucom.2015.10.114

• Multi-agent systems
• Adaptive control
• Backlash-like hysteresis
• Unknown control direction
• Robust control

In this brief, we consider the consensus problem of high-order nonlinear multi-agent systems with unknown backlash-like hysteresis and unknown control direction. By using backstepping technique, a distributed adaptive control scheme, with the adoption of Nussbaum-type function, is developed to solve this consensus problem. Radial basis function neural network is employed to neutralize the uncertain nonlinear dynamics. The approximation error of the neural networks, together with external disturbance and a bounded term from the hysteresis model, is adaptively estimated and counteracted by a robust term. Under undirected connected communication topology, it is proved that the consensus can be achieved asymptotically with the proposed control protocol. Finally, a numerical example is presented to illustrate the performance of the proposed protocol.

• 出版日期2016-1-29
• 单位广东工业大学; 广东外语外贸大学