Adaptive Compensation for Nonlinear Time-Varying Multiagent Systems With Actuator Failures and Unknown Control Directions

作者：Xie, Kan; Chen, Ci; Lewis, Frank L.; Xie, Shengli^*

来源：IEEE Transactions on Cybernetics, 2019, 49(5): 1780-1790.

DOI：10.1109/TCYB.2018.2813671

• Asymptotic control
• actuator failures
• actuator nonlinearities
• partially unknown control directions

This paper investigates a problem of designing an adaptive asymptotic cooperative control scheme for nonlinear time-varying multiagent systems, which can simultaneously tolerate unknown actuator failures and unknown control directions. To address such the problem, we propose a conditional inequality, which allows multiple piecewise Nussbaum functions to acquire the control robustness. Benefiting from this robustness, a part of failure uncertainties and system errors are compensated for, while the remaining parts are handled by adaptive control technique. Moreover, structural properties of the proposed adaptive laws are utilized so that Barbalat's lemma is applicable to make all the followers asymptotically converge to the leader based on the neighborhood information.

• 出版日期2019-5
• 单位广东工业大学