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Optimal output consensus of second-order uncertain nonlinear systems on weight-unbalanced directed networks. (English) Zbl 1528.93215

Summary: This article investigates the distributed optimal output consensus problem of second-order uncertain nonlinear multiagent systems over weight-unbalanced directed networks. Under the standard assumption that local cost functions are strongly convex with globally Lipschitz gradients, a novel distributed dynamic state feedback controller is developed such that the outputs of all the agents reach the optimal solution to minimize the global cost function which is the sum of all the local cost functions. The controller design is based on a two-layer strategy, where a distributed optimal coordinator and a reference-tracking controller are proposed to address the challenges arising from unbalanced directed networks and uncertain nonlinear functions respectively. A key feature of the proposed controller is that the nonlinear functions containing the uncertainties and disturbances are not required to be globally Lipschitz. Furthermore, by exploiting adaptive control technique, no prior knowledge of the uncertainties or disturbances is required either. Two simulation examples are finally provided to illustrate the effectiveness of the proposed control scheme.
{© 2022 John Wiley & Sons Ltd.}

MSC:

93D50 Consensus
93C40 Adaptive control/observation systems
93B52 Feedback control
93C10 Nonlinear systems in control theory
93B70 Networked control
90C25 Convex programming
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