Distributed Adaptive Learning Tracking for Nonlinear Time-varying Multi-agent Systems With Unknown Control Directions and Dead-zone Inputs

This paper investigates the distributed tracking problem for second-order nonlinear time-varying multi-agent systems (SONTV-MASs) subject to unknown control directions (UCDs) and input dead-zone using adaptive iterative learning control (AILC). Through parameter recombination and mean value theorem,...

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Veröffentlicht in:International journal of control, automation, and systems Jg. 23; H. 9; S. 2514 - 2528
Hauptverfasser: Yang, Nana, Li, Suoping, Chen, Jinshu, Zhou, Yongqiang
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.09.2025
Springer Nature B.V
제어·로봇·시스템학회
Schlagworte:
Control
Control algorithms
Control systems
Design
Differential calculus
Engineering
Learning
Mechatronics
Multiagent systems
Regular Papers
Robotics
Topology
Tracking problem
제어계측공학
Adaptive iterative learning control
multi-agent systems
unknown control directions
dead-zone inputs
distributed tracking
ISSN:2005-4092, 1598-6446, 2005-4092
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Beschreibung
Zusammenfassung:This paper investigates the distributed tracking problem for second-order nonlinear time-varying multi-agent systems (SONTV-MASs) subject to unknown control directions (UCDs) and input dead-zone using adaptive iterative learning control (AILC). Through parameter recombination and mean value theorem, the system is remodeled. Based on these, time-varying gains are designed to avoid the global information related topology graph and distinctive multi-Nussbaum functions are introduced. Moreover, by constructing a weighted composite energy function (WCEF), it is strictly analyzed and proved that all followers completely track the leader in a finite time interval. Numerical simulations conducted on a multi-single-link manipulator system validate the theoretical results and demonstrate the algorithm’s effectiveness.
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http://link.springer.com/article/10.1007/s12555-024-0649-y
ISSN:2005-4092
1598-6446
2005-4092
DOI:10.1007/s12555-024-0649-y