Abstract
In this paper, we investigate the problem of consensus tracking of a desired trajectory for a class of nonlinear systems consisting of multiple nonlinear subsystems with intrinsic mismatched unknown parameters. The subsystems are allowed to have non-identical dynamics with similar structures and the same yet arbitrary system order. Suppose that the communications among the subsystems can be represented by a directed graph. A fully distributed adaptive control approach based on a backstepping technique that is different from most of the existing results is proposed, which does not use global information as a parameter of the topology. It is proved that boundedness of all closed-loop signals and asymptotic consensus tracking for all the subsystems’ outputs are ensured. In simulation studies, a numerical example is illustrated to show the effectiveness of the control scheme. Moreover, the design strategy is successfully applied to solve a formation control problem for multiple underactuated ships.
Original language | English |
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Pages (from-to) | 675-684 |
Number of pages | 10 |
Journal | Transactions of the Institute of Measurement and Control |
Volume | 40 |
Issue number | 2 |
DOIs | |
Publication status | Published - 1 Jan 2018 |
Keywords
- Distributed coordination
- adaptive control
- consensus tracking
- nonlinear systems
- underactuated ships
ASJC Scopus subject areas
- Instrumentation