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Adaptive consensus tracking control of strict-feedback nonlinear multi-agent systems with unknown dynamic leader

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Abstract

An adaptive leader-following consensus tracking control approach is considered for strict-feedback nonlinear multi-agent systems, which contain unknown parameters and dynamic leader with both input and output. An adaptive tracking controller and adaptive consensus controllers are designed for nonlinear leader agent and follower agents by backstepping control technique, respectively. Compared to the control methods in the existing literature, only a few adaptive laws need to be constructed by tuning function approach, and the number of design parameters is greatly reduced also. Furthermore, through the Lyapunov stability principle, the tracking error and consensus errors asymptotically converge to zero, and other signals in nonlinear multi-agent systems are bounded. A simulation example shows the effectiveness and feasibility of the proposed control method at the end of this paper.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China (61903169), Natural Sciences and Engineering Research Council of Canada (NSERC), Liaoning Revitalization Talents Program (XLYC2007182), and Natural Science Foundation of Liaoning (2019-BS-126).

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Authors and Affiliations

  1. School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, 114051, China

    Yang Cui

  2. Department of Electrical Engineering, Lakehead University, Thunder Bay, P7B 5E1, Canada

    Xiaoping Liu

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  1. Yang Cui
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  2. Xiaoping Liu
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Correspondence to Yang Cui.

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Cui, Y., Liu, X. Adaptive consensus tracking control of strict-feedback nonlinear multi-agent systems with unknown dynamic leader. Neural Comput & Applic 34, 6215–6226 (2022). https://doi.org/10.1007/s00521-021-06801-1

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