Output Consensus Control of Multiagent Systems With Unknown Nonlinear Dead Zone
研究了通信网络为有向固定拓扑时，具有未知非线性死区的二阶非线性多智能体系统的输出一致性控制问题，设计了分布式自适应神经网络控制器，使所有跟随者输出渐近同步到领导者。
This paper investigates the output consensus control problem of uncertain second-order nonlinear multiagent systems with unknown nonlinear dead zone, where the communication networks can be described as a directed graph with a fixed topology. The control input in each follower is assumed to be subject to unknown nonlinear dead zone. By the function approximation capability of neural networks (NNs), a distributed adaptive NN-based controller is designed for each follower in the graph such that all the outputs of the followers can asymptotically synchronize to the output of the leader with synchronization errors being semiglobally uniformly ultimately bounded. Based on Lyapunov stability theory and algebraic graph theory, analysis is conducted on stability and parameter convergence of the proposed algorithm. Finally, an example is provided to validate the theoretical results.