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Cooperative Output Regulation for Uncertain Nonlinear Multi-Agent Systems with Unknown Control Directions**The work described in this paper was supported by the Research Grants Council of the Hong Kong Special Administrative Region of China under Project CityU/138913
- Source :
- IFAC-PapersOnLine. 49:392-397
- Publication Year :
- 2016
- Publisher :
- Elsevier BV, 2016.
-
Abstract
- This paper concerns the global cooperative output regulation problem for a class of nonlinear multi-agent systems with unknown control directions and unknown exosystem. The communication among agents makes it difficult to implement the Nussbaum gain technique to handle the non-identical unknown control directions. Moreover, the unknown parameter in the exosystem, which cannot be easily handled by the estimators in existing results, makes our problem more intricate. To overcome these challenges, we employ a novel internal model candidate to develop a two-layer control scheme for an adaptive distributed controller design. Theoretic stability analysis is presented and a numerical example is given to show the effectiveness of the proposed controller.
- Subjects :
- Scheme (programming language)
0209 industrial biotechnology
Engineering
Adaptive control
business.industry
Multi-agent system
020208 electrical & electronic engineering
Internal model
Stability (learning theory)
Estimator
02 engineering and technology
Nonlinear system
020901 industrial engineering & automation
Control and Systems Engineering
Control theory
0202 electrical engineering, electronic engineering, information engineering
business
computer
computer.programming_language
Subjects
Details
- ISSN :
- 24058963
- Volume :
- 49
- Database :
- OpenAIRE
- Journal :
- IFAC-PapersOnLine
- Accession number :
- edsair.doi...........67b0a79f8426e371e013c4e3872d5d91