Distributed Control of Nonlinear Systems With Unknown Time-Varying Control Coefficients: A Novel Nussbaum Function Approach

• Published in: IEEE transactions on automatic control Vol. 68; no. 7; pp. 4191 - 4203
• Main Authors: Liu, Zongcheng, Huang, Jiangshuai, Wen, Changyun, Su, Xiaojie
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.07.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Coefficients; Control systems; Global adaptive consensus; Graph theory; Information filters; Multi-agent systems; Multiagent systems; Nonlinear control; Nonlinear systems; Nonlinearity; Solids; Stability analysis; Time varying control; Time-varying systems; Transient analysis; uncertain multiagent systems (MAS); Uncertainty; unknown nonlinearities
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2022.3206135

In this article, distributed control of uncertain multiagent systems (MAS) with completely unknown nonlinearities, unknown time-varying control coefficients, and multiple unknown control directions is investigated. First, a new theorem with a series of novel Nussbaum functions are presented, which solve the outstanding problem in control of nonlinear systems with unknown time-varying control coefficients and unknown signs. Second, global consensus of MAS with unknown time-varying control coefficients and unknown system nonlinearities under directed graph is first achieved, and the transient tracking performance is also guaranteed. Third, a novel filter is proposed for each agent which does not require a prior knowledge of time derivative of leader. Finally, simulation results show the effectiveness of the proposed control schemes.