Distributed adaptive output-feedback tracking control of non-affine multi-agent systems with prescribed performance |
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| Authors: | Gang Chen Ya Zhao |
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| Institution: | The Key Laboratory of Dependable Service Computing in Cyber Physical Society, Ministry of Education, College of Automation, Chongqing University, Chongqing 400044, China |
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| Abstract: | This paper addresses the distributed adaptive output-feedback tracking control problem of uncertain multi-agent systems in non-affine pure-feedback form under a directed communication topology. Since the control input is implicit for each non-affine agent, we introduce an auxiliary first-order dynamics to circumvent the difficulty in control protocol design and avoid the algebraic loop problem in control inputs and the unknown control gain problem. A decentralized input-driven observer is applied to reconstruct state information of each agent, which makes the design and synthesis extremely simplified. Based on the dynamic surface control technique and neural network approximators, a distributed output-feedback control protocol with prescribed tracking performance is derived. Compared with the existing results, the restrictive assumptions on the partial derivative of non-affine functions are removed. Moreover, it is proved that the output tracking errors always stay in a prescribed performance bound. The simulation results are provided to demonstrate the effectiveness of the proposed method. |
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| Keywords: | Corresponding author |
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