Cooperative adaptive control for synchronization of second-order systems with unknown nonlinearities. (English) Zbl 1227.93006

Summary: This paper studies synchronization to a desired trajectory for multi-agent systems with second-order integrator dynamics and unknown nonlinearities and disturbances. The agents can have different dynamics and the treatment is for directed graphs with fixed communication topologies. The command generator or leader node dynamics is also nonlinear and unknown. Cooperative tracking adaptive controllers are designed based on each node maintaining a neural network parametric approximator and suitably tuning it to guarantee stability and performance. A Lyapunov-based proof shows the ultimate boundedness of the tracking error. A simulation example with nodes having second-order Lagrangian dynamics verifies the performance of the cooperative tracking adaptive controller.


93A14 Decentralized systems
93C40 Adaptive control/observation systems
93C10 Nonlinear systems in control theory
92B20 Neural networks for/in biological studies, artificial life and related topics
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