Output‐feedback adaptive consensus tracking control for a class of high‐order nonlinear multi‐agent systems

摘要

Summary In this paper, an output‐feedback adaptive consensus tracking control scheme is proposed for a class of high‐order nonlinear multi‐agent systems. The agents are allowed to have unknown parameters, unknown nonlinearities, and input quantization simultaneously. The desired trajectory to be tracked is available for only a subset of agents, and only the relative outputs and the quantized inputs need to be measured or transmitted as signal exchange among neighbors regardless of the system order. By introducing a kind of high‐gain K‐filters and a smooth function, the effect among agents caused by the unknown nonlinearities is successfully counteracted, and all closed‐loop signals are proved to be globally uniformly bounded. Moreover, it is shown that the tracking errors converge to a residual set that can be made arbitrarily small. Simulation results on robot manipulators are presented to illustrate the effectiveness of the proposed scheme. Copyright © 2017 John Wiley & Sons, Ltd.