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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| Vydané v: | IEEE transactions on cybernetics Ročník 48; číslo 6; s. 1935 - 1946 |
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| Hlavní autori: | , , |
| Médium: | Journal Article |
| Jazyk: | English |
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United States
IEEE
01.06.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 2168-2267, 2168-2275, 2168-2275 |
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| Abstract | 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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| AbstractList | 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. 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.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. |
| Author | Wang, Xiangyu Li, Shihua Chen, Michael Z. Q. |
| Author_xml | – sequence: 1 givenname: Xiangyu orcidid: 0000-0002-8793-381X surname: Wang fullname: Wang, Xiangyu organization: School of Automation, Southeast University, and Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China – sequence: 2 givenname: Shihua orcidid: 0000-0001-9044-7137 surname: Li fullname: Li, Shihua email: lsh@seu.edu.cn organization: School of Automation, Southeast University, and Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, China – sequence: 3 givenname: Michael Z. Q. surname: Chen fullname: Chen, Michael Z. Q. organization: School of Automation, Nanjing University of Science and Technology, Nanjing, China |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/28767379$$D View this record in MEDLINE/PubMed |
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| SubjectTerms | 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 |
| Title | Composite Backstepping Consensus Algorithms of Leader-Follower Higher-Order Nonlinear Multiagent Systems Subject to Mismatched Disturbances |
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