Distributed adaptive consensus tracking control for nonlinear multi-agent systems with state constraints

• Published in: Applied mathematics and computation Vol. 326; pp. 16 - 32
• Main Authors: Zhang, Yanhui, Liang, Hongjing, Ma, Hui, Zhou, Qi, Yu, Zhandong
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.06.2018
• Subjects: Adaptive fuzzy control; Cooperative control; Multi-agent systems; State constraint; Adaptive fuzzy control; Cooperative control; Multi-agent systems; State constraint
• ISSN: 0096-3003; 1873-5649
• DOI: 10.1016/j.amc.2017.12.038

This paper investigates the consensus tracking problem of nonlinear multi-agent systems with state constraints and unknown disturbances. An observer is presented for the case that the states of each follower and its neighbors are unmeasurable. State constraint for multi-agent systems is a challenging problem. Barrier Lyapunov functions are applied in this paper to deal with this difficulty. Then based on adaptive back-stepping control approach and dynamic surface control technique, an adaptive fuzzy distributed controller is proposed to guarantee that the tracking errors between all followers and the leader converge to a small neighborhood of the origin. Moreover, it is proved that all the signals in the multi-agent systems are semi-globally uniformly ultimately bounded (SUUB). Finally, some numerical simulation results are presented to testify the effectiveness of the proposed algorithm.