Distributed adaptive consensus tracking control for non-linear multi-agent systems with time-varying delays
- Author(s): Najmeh Zamani 1 ; Javad Askari 1 ; Marzieh Kamali 1 ; Amir Aghdam 2
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View affiliations
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Affiliations:
1:
Department of Electrical and Computer Engineering , Isfahan University of Technology , Isfahan 84156-83111 , Iran ;
2: Electrical and Computer Engineering Department , Concordia University , Montreal , Canada
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Affiliations:
1:
Department of Electrical and Computer Engineering , Isfahan University of Technology , Isfahan 84156-83111 , Iran ;
- Source:
Volume 14, Issue 20,
27
December
2020,
p.
3382 – 3394
DOI: 10.1049/iet-cta.2020.0281 , Print ISSN 1751-8644, Online ISSN 1751-8652
In this study, a novel distributed adaptive controller is provided for consensus control of high-order non-linear multi-agent systems with unknown time-varying delays. The system is subject to uncertain disturbances, and the agents' dynamics are not known. Unlike the existing literature, the proposed method does not require time-delay terms in system dynamics to be bounded. A neural network is used to model the unknown non-linear dynamics. Then, despite the destabilising effect of the unknown delays, some adaptive rules based on the dynamic surface control are designed to achieve the consensus objective. The semi-global uniform boundedness of the resultant closed-loop signals and the convergence of the tracking errors to a neighbourhood of the origin are shown mathematically. Simulations verify the effectiveness of the results.
Inspec keywords: control system synthesis; nonlinear control systems; uncertain systems; neurocontrollers; Lyapunov methods; distributed control; multi-robot systems; delays; time-varying systems; adaptive control; closed loop systems; multi-agent systems
Other keywords: time-delay terms; consensus control; adaptive controller; consensus objective; high-order nonlinear multiagent systems; uncertain disturbances; agents; dynamic surface control; adaptive rules; nonlinear dynamics; unknown delays; unknown time-varying delays; distributed adaptive consensus tracking control; system dynamics
Subjects: Control system analysis and synthesis methods; Nonlinear control systems; Self-adjusting control systems; Stability in control theory; Multivariable control systems
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