Fully distributed adaptive consensus control for a class of nonlinear systems of directed topology

Jiangshuai Huang, Wei Wang, Qing Guo Wang

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


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 languageEnglish
Pages (from-to)675-684
Number of pages10
JournalTransactions of the Institute of Measurement and Control
Issue number2
Publication statusPublished - 1 Jan 2018


  • Distributed coordination
  • adaptive control
  • consensus tracking
  • nonlinear systems
  • underactuated ships

ASJC Scopus subject areas

  • Instrumentation


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