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Adaptive output consensus for heterogeneous nonlinear multi‑agent systems with multi‑type input constraints under switching‑directed topologies
WeiZhang,ZhaoxuYu,ShugangLi
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(Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China;Department of Information Management, Shanghai University, Shanghai 200444, China)
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DOI:https://doi.org/10.1007/s11768-020-00029-5
基金项目:This work was partially supported by the Chinese National Natural Science Foundation (No. 71871135), and the Fundamental Research Funds for the Central Universities (Nos. 222201714055, 222201717006).
Adaptive output consensus for heterogeneous nonlinear multi‑agent systems with multi‑type input constraints under switching‑directed topologies
Wei Zhang,Zhaoxu Yu,Shugang Li
(Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China;Department of Information Management, Shanghai University, Shanghai 200444, China)
Abstract:
This study concentrates on solving the output consensus problem for a class of heterogeneous uncertain nonstrict-feedback nonlinear multi-agent systems under switching-directed communication topologies, in which all followers are subjected to multi-type input constraints such as unknown asymmetric saturation, unknown dead-zone and their integration. A unified representation is presented to overcome the difficulties originating from multi-agent input constraints. Moreover, the uncertain system functions in a non-lower triangular form and the interaction terms among agents are dealt with by exploiting the fuzzy logic systems and their special property. Furthermore, by introducing a nonlinear filter to alleviate the problem of “explosion of complexity” during the backstepping design, a distributed common adaptive control protocol is proposed to ensure that the synchronization errors converge to a small neighborhood of the origin despite the existence of multiple input constraints and arbitrary switching communication topologies. Both stability analysis and simulation results are conducted to show the effectiveness and performance of the proposed control methodology.
Key words:  Nonlinear multi-agent system · Output consensus · Fuzzy logic system · Input constraint · Switching topology