Wang Meiqiao, Li Wuquan
School of Mathematics and Statistics Science, Ludong University, Yantai 264025, China.
Math Biosci Eng. 2023 Jun 5;20(7):12908-12922. doi: 10.3934/mbe.2023576.
This paper considers the distributed tracking control problem for a class of nonlinear multi-agent systems with nonlinearly parameterized control coefficients and inherent nonlinearities. The essential of multi-agent systems makes it difficult to directly generalize the existing works for single nonlinearly parameterized systems with uncontrollable unstable linearization to the case in this paper. To dominate the inherent nonlinearities and nonlinear parametric uncertainties, a powerful distributed adaptive tracking control is presented by combing the algebra graph theory with the distributed backstepping method, which guarantees that all the closed-loop system signals are global bounded while the range of the tracking error between the follower's output and the leader's output can be tuned arbitrarily small. Finally, a numerical example is provided to verify the validity of the developed methods.
本文研究了一类具有非线性参数化控制系数和固有非线性的非线性多智能体系统的分布式跟踪控制问题。多智能体系统的本质使得难以直接将现有的针对具有不可控不稳定线性化的单个非线性参数化系统的研究成果推广到本文所讨论的情况。为了抑制固有非线性和非线性参数不确定性，通过将代数图论与分布式反步法相结合，提出了一种强大的分布式自适应跟踪控制方法，该方法保证了所有闭环系统信号全局有界，同时跟随者输出与领导者输出之间的跟踪误差范围可以任意调节得很小。最后，给出了一个数值例子来验证所提出方法的有效性。
