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SCIENCE CHINA Information Sciences, Volume 63 , Issue 3 : 132202(2020) https://doi.org/10.1007/s11432-019-2678-2

Observer-based adaptive consensus control for nonlinear multi-agent systems with time-delay

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  • ReceivedJul 8, 2019
  • AcceptedSep 27, 2019
  • PublishedFeb 11, 2020

Abstract

In this paper, we consider the observer-based adaptive consensus trackingproblem for a class of nonlinear time-delay multi-agent systems in the presence ofinput saturation. Under the assumption that the communication topology is directedand connected, a distributed adaptive consensus controller is developed based on thedynamic surface control technique. By constructing the nonlinear observer, theunmeasurable agents dynamics can be estimated. Input saturation problem issolved by a smooth function combined with an auxiliary variable. With the helpof prescribed performance functions, the synchronization errors converge tothe prescribed sets, which are characterized as a neighborhood of zero.According to Lyapunov stability theory, it is shown that with the proposeddistributed consensus tracking approach, the consensus errors are cooperativelysemi-globally uniformly ultimately bounded. Finally, a simulation example is provided to show theeffectiveness of the proposed algorithm.


Acknowledgment

This work was partially supported by National Key RD Program of China (Grant No. 2018YFB17- 00400), the Innovative Research Team Program of Guangdong Provincial Science Foundation (Grant No. 2018B030312006), and Science and Technology Program of Guangzhou (Grant No. 201904020006).


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