Regular Papers

International Journal of Control, Automation and Systems 2021; 19(4): 1491-1504

Published online February 18, 2021

https://doi.org/10.1007/s12555-019-0793-y

© The International Journal of Control, Automation, and Systems

Asymptotic Synchronization Control of High-order Nonlinear Multiagent Systems Using Barrier Functions

Jiacheng Song, Yongfeng Ju*, Maode Yan, and Panpan Yang

Chang’an University

Abstract

This paper studies the adaptive control problem for unknown time-varying high-order nonlinear multiagent systems (MASs) with directed topology. A novel low-complexity distributed adaptive backstepping controller is developed to achieve the asymptotic synchronization. The designed controller regards the unknown system nonlinearities as “disturbance-like” terms, which are guaranteed to be bounded by using the barrier functions, such that detail models of system nonlinearities are released. Then, the “disturbance-like” terms are compensated adaptively by designing the novel compensator at each step, such that the synchronization error is eliminated to zero eventually for each agent. In addition, unlike the existing backstepping-like synchronization approaches for high-order nonlinear MASs, the “explosion of complexity” issue is avoided without extra low-pass filters. Some simulations are shown to demonstrate the effectiveness and advantages of the developed method.

Keywords Adaptive control, asymptotic synchronization, backstepping, barrier functions, nonlinear multiagent Systems.

Article

Regular Papers

International Journal of Control, Automation and Systems 2021; 19(4): 1491-1504

Published online April 1, 2021 https://doi.org/10.1007/s12555-019-0793-y

Copyright © The International Journal of Control, Automation, and Systems.

Asymptotic Synchronization Control of High-order Nonlinear Multiagent Systems Using Barrier Functions

Jiacheng Song, Yongfeng Ju*, Maode Yan, and Panpan Yang

Chang’an University

Abstract

This paper studies the adaptive control problem for unknown time-varying high-order nonlinear multiagent systems (MASs) with directed topology. A novel low-complexity distributed adaptive backstepping controller is developed to achieve the asymptotic synchronization. The designed controller regards the unknown system nonlinearities as “disturbance-like” terms, which are guaranteed to be bounded by using the barrier functions, such that detail models of system nonlinearities are released. Then, the “disturbance-like” terms are compensated adaptively by designing the novel compensator at each step, such that the synchronization error is eliminated to zero eventually for each agent. In addition, unlike the existing backstepping-like synchronization approaches for high-order nonlinear MASs, the “explosion of complexity” issue is avoided without extra low-pass filters. Some simulations are shown to demonstrate the effectiveness and advantages of the developed method.

Keywords: Adaptive control, asymptotic synchronization, backstepping, barrier functions, nonlinear multiagent Systems.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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