Distributed adaptive output-feedback tracking control of non-affine multi-agent systems with prescribed performance

作者：Chen, Gang^*; Zhao, Ya

来源：Journal of the Franklin Institute, 2018, 355(13): 6087-6110.

DOI：10.1016/j.jfranklin.2018.05.064

• NEURAL-NETWORK CONTROL
• TIME-DELAY SYSTEMS
• NONLINEAR-SYSTEMS
• CONSENSUS
• DYNAMICS

This paper addresses the distributed adaptive output-feedback tracking control problem of uncertain multi-agent systems in non-affine pure-feedback form under a directed communication topology. Since the control input is implicit for each non-affine agent, we introduce an auxiliary first-order dynamics to circumvent the difficulty in control protocol design and avoid the algebraic loop problem in control inputs and the unknown control gain problem. A decentralized input-driven observer is applied to reconstruct state information of each agent, which makes the design and synthesis extremely simplified. Based on the dynamic surface control technique and neural network approximators, a distributed output-feedback control protocol with prescribed tracking performance is derived. Compared with the existing results, the restrictive assumptions on the partial derivative of non-affine functions are removed. Moreover, it is proved that the output tracking errors always stay in a prescribed performance bound. The simulation results are provided to demonstrate the effectiveness of the proposed method.

• 出版日期2018-9
• 单位重庆大学