Output-Constrained Control of Nonaffine Multiagent Systems With Partially Unknown Control Directions

In this paper, an output-constrained control algorithm is presented for the consensus control of a class of unknown nonaffine multiagent systems (MASs) with partially unknown control directions. Our contribution includes a step forward beyond the usual consensus stabilization result to show that the...

Full description

Saved in:

Bibliographic Details
Published in:	IEEE transactions on automatic control 2019-09, Vol.64 (9), p.3936-3942
Main Authors:	Fan, Bo, Yang, Qinmin, Jagannathan, Sarangapani, Sun, Youxian
Format:	Article
Language:	eng
Subjects:	Algorithms Computer simulation Consensus control Constraints Control algorithms Control systems Control theory Fans Multi-agent systems multiagent system (MAS) Multiagent systems nonaffine system Power system dynamics Reagents Stabilization Sun Symmetric matrices time-varying constraints Time-varying systems unknown control direction
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	In this paper, an output-constrained control algorithm is presented for the consensus control of a class of unknown nonaffine multiagent systems (MASs) with partially unknown control directions. Our contribution includes a step forward beyond the usual consensus stabilization result to show that the outputs of agents remain within user-defined time-varying constraints. To achieve the new results, an error transformation technique is established to generate an equivalent MAS from the original one. Stabilization and consensus of the transformed agent states ensure both the satisfaction of the time-varying constraints and the consensus of the original agent states. Based on the Nussbaum gain technique, the unknown control direction problem is solved. By the Lyapunov synthesis, the asymptotic consensus result and the satisfaction of the output constraints are theoretically proved, along with all the closed-loop signals being bounded. Additionally, the developed consensus controller is distributed since each agent only exchanges information with its neighbors. Finally, simulations on a nonaffine MAS demonstrate the effectiveness of the proposed control scheme.
ISSN:	0018-9286 1558-2523