Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input Quantization
In this paper, the problem of distributed adaptive consensus tracking control for second-order nonlinear heterogeneous multi-agent systems (MASs) with input quantization is considered. A distributed output feedback control scheme based on a K-filter is developed to suppress the influences of unknown...
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MDPI AG
2023-05-01
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Series: | Machines |
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Online Access: | https://www.mdpi.com/2075-1702/11/5/524 |
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author | Linxing Xu Yang Li |
author_facet | Linxing Xu Yang Li |
author_sort | Linxing Xu |
collection | DOAJ |
description | In this paper, the problem of distributed adaptive consensus tracking control for second-order nonlinear heterogeneous multi-agent systems (MASs) with input quantization is considered. A distributed output feedback control scheme based on a K-filter is developed to suppress the influences of unknown disturbances and input quantization. In contrast to existing approaches, an additional design parameter is introduced into the controller design to ensure that the subsystem tracking error converges to an arbitrarily small residual set. Through Lyapunov stability analysis, it can be proved that the proposed control scheme can achieve distributed consensus tracking control of second-order nonlinear heterogeneous MASs. In addition, all signals in the closed-loop system are shown to be globally uniformly bounded. Finally, a practical example demonstrates the effectiveness of the proposed control method. |
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institution | Directory Open Access Journal |
issn | 2075-1702 |
language | English |
last_indexed | 2024-03-11T03:33:13Z |
publishDate | 2023-05-01 |
publisher | MDPI AG |
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series | Machines |
spelling | doaj.art-3e8a8ead77e24fcfb510080182fb1aaa2023-11-18T02:11:24ZengMDPI AGMachines2075-17022023-05-0111552410.3390/machines11050524Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input QuantizationLinxing Xu0Yang Li1School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaIn this paper, the problem of distributed adaptive consensus tracking control for second-order nonlinear heterogeneous multi-agent systems (MASs) with input quantization is considered. A distributed output feedback control scheme based on a K-filter is developed to suppress the influences of unknown disturbances and input quantization. In contrast to existing approaches, an additional design parameter is introduced into the controller design to ensure that the subsystem tracking error converges to an arbitrarily small residual set. Through Lyapunov stability analysis, it can be proved that the proposed control scheme can achieve distributed consensus tracking control of second-order nonlinear heterogeneous MASs. In addition, all signals in the closed-loop system are shown to be globally uniformly bounded. Finally, a practical example demonstrates the effectiveness of the proposed control method.https://www.mdpi.com/2075-1702/11/5/524multi-agent system (MAS)consensus tracking controldistributed output feedbackinput quantization |
spellingShingle | Linxing Xu Yang Li Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input Quantization Machines multi-agent system (MAS) consensus tracking control distributed output feedback input quantization |
title | Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input Quantization |
title_full | Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input Quantization |
title_fullStr | Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input Quantization |
title_full_unstemmed | Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input Quantization |
title_short | Distributed Adaptive Consensus Tracking Control for Second-Order Nonlinear Heterogeneous Multi-Agent Systems with Input Quantization |
title_sort | distributed adaptive consensus tracking control for second order nonlinear heterogeneous multi agent systems with input quantization |
topic | multi-agent system (MAS) consensus tracking control distributed output feedback input quantization |
url | https://www.mdpi.com/2075-1702/11/5/524 |
work_keys_str_mv | AT linxingxu distributedadaptiveconsensustrackingcontrolforsecondordernonlinearheterogeneousmultiagentsystemswithinputquantization AT yangli distributedadaptiveconsensustrackingcontrolforsecondordernonlinearheterogeneousmultiagentsystemswithinputquantization |