TY - JOUR
T1 - Zero-error consensus tracking with preassignable convergence for nonaffine multiagent systems
AU - Wang, Yujuan
AU - Song, Yongduan
AU - Hill, David J.
N1 - Funding Information:
Manuscript received August 26, 2018; revised November 15, 2018; accepted January 3, 2019. Date of publication March 18, 2019; date of current version February 17, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant 61773081, Grant 61860206008, and Grant 61803053, in part by the Research Grants Council of Hong Kong through General Research Fund under Project 17200415, and in part by the Chongqing Research Program of Basic Research and Frontier Technology under Grant cstc2018jcyjAX0082. This paper was recommended by Associate Editor I. Bukovsky. (Corresponding author: Yujuan Wang.) Y. Wang and Y. Song are with the Key Laboratory of Dependable Service Computing in Cyber Physical Society, Ministry of Education, Chongqing University, Chongqing 400044, China, and also with the School of Automation, Chongqing University, Chongqing 400044, China (e-mail: [email protected]; [email protected]).
Publisher Copyright:
© 2013 IEEE.
PY - 2021/3
Y1 - 2021/3
N2 - In this paper, we investigate the consensus tracking control problem for networked multiagent systems (MASs) with unknown nonaffine dynamics. Our goal is to achieve asymptotic (rather than ultimately uniformly bounded) consensus tracking, which is quite challenging especially if nonvanishing/nonparametric uncertainties are involved and at the same time the control protocol is required to be fully distributed and continuous everywhere. Here, we present a conceptually new and structurally simple solution with distributed and continuous control action. The developed method is capable of ensuring zero-error tracking with a unique converging feature in that the consensus tracking error first converges to a small adjustable residual set around zero within a prescribed finite time, and then further shrinks to zero exponentially. The key technique lies in the utilization of a state transformation based on certain scaling function. Our method also prevents the restrictive requirement that all subsystems have access to the linearly parameterized information as imposed in most existing consensus tracking results for nonlinear MAS.
AB - In this paper, we investigate the consensus tracking control problem for networked multiagent systems (MASs) with unknown nonaffine dynamics. Our goal is to achieve asymptotic (rather than ultimately uniformly bounded) consensus tracking, which is quite challenging especially if nonvanishing/nonparametric uncertainties are involved and at the same time the control protocol is required to be fully distributed and continuous everywhere. Here, we present a conceptually new and structurally simple solution with distributed and continuous control action. The developed method is capable of ensuring zero-error tracking with a unique converging feature in that the consensus tracking error first converges to a small adjustable residual set around zero within a prescribed finite time, and then further shrinks to zero exponentially. The key technique lies in the utilization of a state transformation based on certain scaling function. Our method also prevents the restrictive requirement that all subsystems have access to the linearly parameterized information as imposed in most existing consensus tracking results for nonlinear MAS.
KW - Multiagent systems (MASs)
KW - nonaffine dynamics
KW - preassignable convergence
KW - zero-error consensus tracking
UR - http://www.scopus.com/inward/record.url?scp=85101085023&partnerID=8YFLogxK
U2 - 10.1109/TCYB.2019.2893461
DO - 10.1109/TCYB.2019.2893461
M3 - Article
C2 - 30892257
AN - SCOPUS:85101085023
SN - 2168-2267
VL - 51
SP - 1300
EP - 1310
JO - IEEE Transactions on Cybernetics
JF - IEEE Transactions on Cybernetics
IS - 3
ER -