.png){kind=icon}
.png){kind=icon}
Return
Distributed Consensus Tracking Control of a Second-Order Nonlinear Multiagent System via Immersion and Invariance Method
.png){kind=icon}
PRE
AI
DOI：10.1109/JSYST.2022.3142620.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
In this article, a consensus tracking control problem is investigated for a second-order nonlinear multiagent system (MAS). Based on the immersion and invariance (I&I) theory, a distributed I&I consensus tracking control strategy is proposed with known dynamics first. On the basis of graph theory, an error system is established. The tracking problem of an MAS is transformed into a stabilizing issue. An implicit manifold is constructed, and an improved form of the off-the-manifold coordinate, with a regulating factor, is introduced. Further, a consensus tracking control problem for an MAS with unknown dynamics is studied. A distributed I&I consensus tracking control strategy is designed in combination with an adaptive I&I estimator. The error between the real value and its estimation is selected as an I&I implicit manifold, and an off-the-manifold coordinate is then defined. An adaptive update law is designed for guaranteeing the invariance and attractiveness of this manifold. Finally, two illustrative examples corroborate the effectiveness of the obtained theoretical results.
Keywords:
Manifolds
Estimation
Control theory
Adaptive estimation
Trajectory
Target tracking
Multi-agent systems
Adaptive tracking
immersion and invariance
multiagent system (MAS)
unknown parameters
Journal
I
IF:
2.4
Papers:
4.5K
Citations:
387
Organization
No organization information available