On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework

On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework

This paper focuses on the consensus problem of multiple high-order systems with uncertainties. Since it is difficult to use matrix theory approaches to design consensus controllers for a class of multiple high-order uncertain nonlinear systems, in this paper a set of consensus control laws are propo...

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Main Authors: Jie Huang, Chen Chen, Hao Fang, Jie Chen, Lihua Dou
Format: Article
Language:English
Published: SAGE Publishing 2014-08-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/58823
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spelling doaj-5fd1271fef3a47aab916620c1a3268452020-11-25T03:24:36ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-08-011110.5772/5882310.5772_58823On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping FrameworkJie Huang0Chen Chen1Hao Fang2Jie Chen3Lihua Dou4 Fujian Institute of Education, Fuzhou, China Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, ChinaThis paper focuses on the consensus problem of multiple high-order systems with uncertainties. Since it is difficult to use matrix theory approaches to design consensus controllers for a class of multiple high-order uncertain nonlinear systems, in this paper a set of consensus control laws are proposed by employing adaptive control theory and a backstepping technique. The distributed virtual control functions of the multi-agent systems are elaborately constructed by only using their local information in the recursive controller design procedure. Furthermore, the asymptotic stability of the overall interconnected system is proved relying on the Lyapunov stability analysis method. Finally, simulations are provided to verify the effectiveness of the control algorithms.https://doi.org/10.5772/58823
collection DOAJ
language English
format Article
sources DOAJ
author Jie Huang
Chen Chen
Hao Fang
Jie Chen
Lihua Dou
spellingShingle Jie Huang
Chen Chen
Hao Fang
Jie Chen
Lihua Dou
On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework
International Journal of Advanced Robotic Systems
author_facet Jie Huang
Chen Chen
Hao Fang
Jie Chen
Lihua Dou
author_sort Jie Huang
title On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework
title_short On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework
title_full On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework
title_fullStr On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework
title_full_unstemmed On Consensus of Multiple High-Order Uncertain Systems Based on Distributed Backstepping Framework
title_sort on consensus of multiple high-order uncertain systems based on distributed backstepping framework
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2014-08-01
description This paper focuses on the consensus problem of multiple high-order systems with uncertainties. Since it is difficult to use matrix theory approaches to design consensus controllers for a class of multiple high-order uncertain nonlinear systems, in this paper a set of consensus control laws are proposed by employing adaptive control theory and a backstepping technique. The distributed virtual control functions of the multi-agent systems are elaborately constructed by only using their local information in the recursive controller design procedure. Furthermore, the asymptotic stability of the overall interconnected system is proved relying on the Lyapunov stability analysis method. Finally, simulations are provided to verify the effectiveness of the control algorithms.
url https://doi.org/10.5772/58823
work_keys_str_mv AT jiehuang onconsensusofmultiplehighorderuncertainsystemsbasedondistributedbacksteppingframework
AT chenchen onconsensusofmultiplehighorderuncertainsystemsbasedondistributedbacksteppingframework
AT haofang onconsensusofmultiplehighorderuncertainsystemsbasedondistributedbacksteppingframework
AT jiechen onconsensusofmultiplehighorderuncertainsystemsbasedondistributedbacksteppingframework
AT lihuadou onconsensusofmultiplehighorderuncertainsystemsbasedondistributedbacksteppingframework
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