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Prescribed Performance Control for Consensus Output Tracking of Nonlinear Systems | IEEE Conference Publication | IEEE Xplore

Prescribed Performance Control for Consensus Output Tracking of Nonlinear Systems


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 More

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
Conference Location: Cairns, QLD, Australia

References

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