Composite Backstepping Consensus Algorithms of Leader-Follower Higher-Order Nonlinear Multiagent Systems Subject to Mismatched Disturbances

This paper is devoted to solving the output consensus problem of leader-follower higher-order nonlinear multiagent systems subject to mismatched disturbances. The disturbances are allowed to be in higher-order forms. First, by constructing a generalized proportional-integral observer for each follow...

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Veröffentlicht in:IEEE transactions on cybernetics Jg. 48; H. 6; S. 1935 - 1946
Hauptverfasser: Wang, Xiangyu, Li, Shihua, Chen, Michael Z. Q.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: United States IEEE 01.06.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Backstepping
Computer simulation
Control design
Control theory
Disturbances
Feedback control
Feedforward control
feedforward-feedback composite control
generalized proportional integral observer
higher-order nonlinear multiagent systems
mismatched disturbances
Multi-agent systems
Multiagent systems
Nonlinear systems
Observers
output consensus
Protocols
ISSN:2168-2267, 2168-2275, 2168-2275
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Zusammenfassung:This paper is devoted to solving the output consensus problem of leader-follower higher-order nonlinear multiagent systems subject to mismatched disturbances. The disturbances are allowed to be in higher-order forms. First, by constructing a generalized proportional-integral observer for each follower, estimates of the disturbances and their derivatives are obtained. At the same time, a distributed observer is also developed for the followers to estimate the leader state information. Second, based on the estimates of the disturbances and the leader state, together with the backstepping technique, a feedforward-feedback composite consensus control scheme is proposed. The designed distributed protocols guarantee asymptotic output consensus for the agents. Simulation results validate the effectiveness of the proposed composite control scheme.
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ISSN:2168-2267
2168-2275
2168-2275
DOI:10.1109/TCYB.2017.2720680