Adaptive cooperative tracking control of higher-order nonlinear systems with unknown dynamics |
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| Authors: | Hongwei Zhang Frank L. Lewis |
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| Affiliation: | 1. School of Electrical Engineering, Southwest Jiaotong University, Chengdu, Sichuan, 610031, PR China;2. Automation and Robotics Research Institute, The University of Texas at Arlington, Fort Worth, TX 76118-7115, USA;1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China;2. School of Electrical and Electronic Engineering, Nanyang Technological University, 639798 Singapore, Singapore;3. UTA Research Institute, University of Texas at Arlington, Fort Worth, Texas, USA;4. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China;1. State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing 100871, China;2. Department of Electrical Engineering, University of California, Riverside, CA, 92521, USA;3. School of Automation, Beijing Institute of Technology, Beijing 100081, China;4. School of Electrical and Electronic Engineering, Nanyang Technological University, 639798, Singapore;1. Department of Automation, Tsinghua University, Beijing 100084, China;2. School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang Avenue, Singapore 639798, Singapore;3. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;1. School of Mechanical Engineering & Automation, Harbin Institute of Technology Shenzhen Graduate School, Guangdong, 518055, PR China;2. Department of Electrical Engineering, University of California, Riverside, CA 92521, USA;3. Department of Electrical Engineering, City University of Hong Kong, Kowloon, Hong Kong;4. Department of Control Science & Engineering, Harbin Institute of Technology, Heilongjiang, 150001, PR China;1. School of Control Science and Engineering, Shandong University, Jinan, 250061, PR China;2. Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong |
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| Abstract: | A practical design method is developed for cooperative tracking control of higher-order nonlinear systems with a dynamic leader. The communication network is a weighted directed graph with a fixed topology. Each follower node is modeled by a higher-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. The leader node is modeled as a higher-order nonautonomous nonlinear system. It acts as a command generator giving commands only to a small portion of the networked group. A robust adaptive neural network controller is designed for each follower node such that all follower nodes ultimately synchronize to the leader node with bounded residual errors. Moreover, these controllers are distributed in the sense that the controller design for each follower node only requires relative state information between itself and its neighbors. A simulation example demonstrates the effectiveness of the algorithm. |
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