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A Separation-Based Methodology to Consensus Tracking of Switched High-Order Nonlinear Multi-Agent Systems

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Document pages: 9 pages

Abstract: This work investigates a reduced-complexity adaptive methodology to consensustracking for a team of uncertain high-order nonlinear systems with switched(possibly asynchronous) dynamics. It is well known that high-order nonlinearsystems are intrinsically challenging as feedback linearization andbackstepping methods successfully developed for low-order systems fail to work.At the same time, even the adding-one power-integrator methodology, wellexplored for the single-agent high-order case, presents some complexity issuesand is unsuited for distributed control. At the core of the proposeddistributed methodology is a newly proposed definition for separable functions:this definition allows the formulation of a separation-based lemma to handlethe high-order terms with reduced complexity in the control design. Complexityis reduced in a twofold sense: the control gain of each virtual control lawdoes not have to be incorporated in the next virtual control law iteratively,thus leading to a simpler expression of the control laws; the order of thevirtual control gains increases only proportionally (rather than exponentially)with the order of the systems, dramatically reducing high-gain issues.

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