Distributed Output-Feedback Consensus Control for Nonlinear Multiagent Systems Subject to Unknown Input Delays

This article considers the distributed output-feedback consensus control problem for nonlinear multiagent systems subject to input delays. Different from the existing related works, the input delay of each agent is described as an unknown time-varying function and is different from each other in thi...

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Vydané v:	IEEE transactions on cybernetics Ročník 52; číslo 2; s. 1292 - 1301
Hlavní autori:	Li, Kuo, Hua, Changchun, You, Xiu, Guan, Xinping
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	United States IEEE 01.02.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Asymptotic properties Consensus algorithm Control stability Control systems Controllers Delays Distributed observer leader-following consensus Multi-agent systems Multiagent systems Nonlinear control nonlinear multiagent systems Nonlinear systems Observers Output feedback output-feedback control Time-varying systems unknown time-varying input delays
ISSN:	2168-2267, 2168-2275, 2168-2275
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Abstract	This article considers the distributed output-feedback consensus control problem for nonlinear multiagent systems subject to input delays. Different from the existing related works, the input delay of each agent is described as an unknown time-varying function and is different from each other in this article. To deal with this problem, for each follower, we first construct a novel distributed observer based on the relative output information to asymptotically estimate the state information of the leader, then we introduce a classical observer to asymptotically estimate the state information of the follower based on its output information. By means of two observers, the leader-following consensus problem is transformed into the stability problem of the nonlinear system with unknown input delays. Subsequently, the distributed controller independent of delays is proposed for each follower by the use of the truncated prediction method under some conditions. Based on the Lyapunov stability theory, it is strictly proved that the distributed controller can render all agents achieving consensus. Finally, the effectiveness of the theoretical results is illustrated on the basis of numerical simulations on a group of single-link manipulators.
AbstractList	This article considers the distributed output-feedback consensus control problem for nonlinear multiagent systems subject to input delays. Different from the existing related works, the input delay of each agent is described as an unknown time-varying function and is different from each other in this article. To deal with this problem, for each follower, we first construct a novel distributed observer based on the relative output information to asymptotically estimate the state information of the leader, then we introduce a classical observer to asymptotically estimate the state information of the follower based on its output information. By means of two observers, the leader-following consensus problem is transformed into the stability problem of the nonlinear system with unknown input delays. Subsequently, the distributed controller independent of delays is proposed for each follower by the use of the truncated prediction method under some conditions. Based on the Lyapunov stability theory, it is strictly proved that the distributed controller can render all agents achieving consensus. Finally, the effectiveness of the theoretical results is illustrated on the basis of numerical simulations on a group of single-link manipulators. This article considers the distributed output-feedback consensus control problem for nonlinear multiagent systems subject to input delays. Different from the existing related works, the input delay of each agent is described as an unknown time-varying function and is different from each other in this article. To deal with this problem, for each follower, we first construct a novel distributed observer based on the relative output information to asymptotically estimate the state information of the leader, then we introduce a classical observer to asymptotically estimate the state information of the follower based on its output information. By means of two observers, the leader-following consensus problem is transformed into the stability problem of the nonlinear system with unknown input delays. Subsequently, the distributed controller independent of delays is proposed for each follower by the use of the truncated prediction method under some conditions. Based on the Lyapunov stability theory, it is strictly proved that the distributed controller can render all agents achieving consensus. Finally, the effectiveness of the theoretical results is illustrated on the basis of numerical simulations on a group of single-link manipulators.This article considers the distributed output-feedback consensus control problem for nonlinear multiagent systems subject to input delays. Different from the existing related works, the input delay of each agent is described as an unknown time-varying function and is different from each other in this article. To deal with this problem, for each follower, we first construct a novel distributed observer based on the relative output information to asymptotically estimate the state information of the leader, then we introduce a classical observer to asymptotically estimate the state information of the follower based on its output information. By means of two observers, the leader-following consensus problem is transformed into the stability problem of the nonlinear system with unknown input delays. Subsequently, the distributed controller independent of delays is proposed for each follower by the use of the truncated prediction method under some conditions. Based on the Lyapunov stability theory, it is strictly proved that the distributed controller can render all agents achieving consensus. Finally, the effectiveness of the theoretical results is illustrated on the basis of numerical simulations on a group of single-link manipulators.
Author	Guan, Xinping Hua, Changchun Li, Kuo You, Xiu
Author_xml	– sequence: 1 givenname: Kuo orcidid: 0000-0002-9049-5558 surname: Li fullname: Li, Kuo email: good-will@foxmail.com organization: Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China – sequence: 2 givenname: Changchun orcidid: 0000-0001-6311-2112 surname: Hua fullname: Hua, Changchun email: cch@ysu.edu.cn organization: Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China – sequence: 3 givenname: Xiu orcidid: 0000-0001-6175-7187 surname: You fullname: You, Xiu email: youxiu@sxu.edu.cn organization: School of Mathematical Sciences, Shanxi University, Taiyuan, China – sequence: 4 givenname: Xinping orcidid: 0000-0003-1858-8538 surname: Guan fullname: Guan, Xinping email: xpguan@sjtu.edu.cn organization: School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China
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SubjectTerms	Asymptotic properties Consensus algorithm Control stability Control systems Controllers Delays Distributed observer leader-following consensus Multi-agent systems Multiagent systems Nonlinear control nonlinear multiagent systems Nonlinear systems Observers Output feedback output-feedback control Time-varying systems unknown time-varying input delays
Title	Distributed Output-Feedback Consensus Control for Nonlinear Multiagent Systems Subject to Unknown Input Delays
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