Leader‐following consensus control of second‐order nonlinear multi‐agent systems with applications to slew rate control
Chuanrui Wang, Lei Zhang, Feng Cao
Abstract
Abstract 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.
Topics & Concepts
BacksteppingControl theory (sociology)Nonlinear systemMulti-agent systemConsensusSpanning treeControl (management)GraphComputer scienceNode (physics)State variableAdaptive controlMathematical optimizationMathematicsEngineeringArtificial intelligenceTheoretical computer scienceStructural engineeringThermodynamicsCombinatoricsQuantum mechanicsPhysicsDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationAdaptive Control of Nonlinear Systems