2020/06/10 by Maolong Lv, Wenwu Yu, Lv, Maolong +5
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Multiagent Systems (cs.MA) #Neural Networks Stability and Synchronization #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2006.05799
openalex publication_date 2020/06/10 · openalex created_date 2020/06/19 · openalex updated_date 2026/07/28
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems are intrinsically challenging as feedback linearization and backstepping methods successfully developed for low-order systems fail to work. At the same time, even the adding-one power-integrator methodology, well explored for the single-agent high-order case, presents some complexity issues and is unsuited for distributed control. At the core of the proposed distributed methodology is a newly proposed definition for separable functions: this definition allows the formulation of a separation-based lemma to handle the high-order terms with reduced complexity in the control design. Complexity is reduced in a twofold sense: the control gain of each virtual control law does not have to be incorporated in the next virtual control law iteratively, thus leading to a simpler expression of the control laws; the order of the virtual control gains increases only proportionally (rather than exponentially) with the order of the systems, dramatically reducing high-gain issues.