Abstract:
In this work, we consider the distributed consensus output tracking problem for a class of nonlinear systems. The systems are under a directed communication graph, where ...Show MoreMetadata
Abstract:
In this work, we consider the distributed consensus output tracking problem for a class of nonlinear systems. The systems are under a directed communication graph, where the leader node is the root. The controller is designed in a backstepping manner, and to avoid the shortcoming of “explosion of terms”, low-pass filters are adopted to avoid direct differentiation. At each step of the virtual controller design, a prescribed performance controller is constructed to achieve prescribed transient performance so that the system states remain in the feasible domain. Then each virtual controller is enhanced by a finite-time disturbance observer which estimates the disturbance term in a finite-time. The properties of the control system are analyzed theoretically. And the performance of the proposed methods is confirmed by numerical examples.
Date of Conference: 13-15 June 2018
Date Added to IEEE Xplore: 13 August 2018
ISBN Information:
Electronic ISSN: 2163-5145