IEEE Access (Jan 2019)
Fully Distributed Tracking Control of High-Order Nonlinear Multi-Agent Systems
Abstract
This paper studies the fully distributed tracking problem for high-order nonlinear multi-agent systems (MASs) with directed graph. Unlike global Lipschitz condition, the nonlinear function we considered only needs to be a continuously differential one. A recursive state transformation and adaptive control technique are employed to design the tracking controllers. First, a discontinuous fully distributed tracking controller is developed for MASs. Under this controller, the follower agents track the leader agent asymptotically. Second, a continuous fully distributed tracking controller is purposely presented for MASs to avoid the chattering problem may caused by discontinuous controller. Finally, a numerical example is given to verify the effectiveness of those two fully distributed controllers.
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