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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Main Authors: Linxing Xu, Yang Li
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Machines
Subjects:
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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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