Distributed Consensus Control for Multiple Nonlinear Strict-Feedback Systems under Directed Graphs and its Application for Multiple Quadrotor Systems

2015 ◽  
Author(s):  
Yuan Nie ◽  
Qinghe Wu
Keyword(s):  
Directed Graphs ◽  
Feedback Systems ◽  
Distributed Consensus ◽  
Consensus Control ◽  
Strict Feedback

scholarly journals Distributed Adaptive Fixed-Time Tracking Consensus Control for Multiple Uncertain Nonlinear Strict-Feedback Systems under a Directed Graph

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-21
Author(s):  
Pinwei Li ◽  
Jiyang Dai ◽  
Jin Ying ◽  
Zhe Zhang ◽  
Cheng He
Keyword(s):  
Directed Graph ◽  
Control Strategy ◽  
Design Procedure ◽  
Fixed Time ◽  
Convergence Time ◽  
Approximation Technique ◽  
Feedback Systems ◽  
Consensus Control ◽  
Consensus Tracking ◽  
Strict Feedback

In this brief, we study the distributed adaptive fixed-time tracking consensus control problem for multiple strict-feedback systems with uncertain nonlinearities under a directed graph topology. It is assumed that the leader’s output is time varying and has been accessed by only a small fraction of followers in a group. The distributed fixed-time tracking consensus control is proposed to design local consensus controllers in order to guarantee the consensus tracking between the followers and the leader and ensure the error convergence time is independent of the systems’ initial state. The function approximation technique using radial basis function neural networks (RBFNNs) is employed to compensate for unknown nonlinear terms induced from the controller design procedure. From the Lyapunov stability theorem and graph theory, it is shown that, by using the proposed fixed-time control strategy, all signals in the closed-loop system and the consensus tracking errors are cooperatively semiglobally uniformly bounded and the errors converge to a neighborhood of the origin within a fixed time. Finally, the effectiveness of the proposed control strategy has been proved by rigorous stability analysis and two simulation examples.

Optimal Model Reference Control Scheme Design for Nonlinear Strict-Feedback Systems

2020 ◽  
Vol 38 (9A) ◽  
pp. 1342-1351
Author(s):  
Musadaq A. Hadi ◽  
Hazem I. Ali
Keyword(s):  
Reference Model ◽  
Feedback System ◽  
Optimization Method ◽  
Feedback Systems ◽  
Model Reference ◽  
Scheme Design ◽  
Model Reference Control ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Strict Feedback

In this paper, a new design of the model reference control scheme is proposed in a class of nonlinear strict-feedback system. First, the system is analyzed using Lyapunov stability analysis. Next, a model reference is used to improve system performance. Then, the Integral Square Error (ISE) is considered as a cost function to drive the error between the reference model and the system to zero. After that, a powerful metaheuristic optimization method is used to optimize the parameters of the proposed controller. Finally, the results show that the proposed controller can effectively compensate for the strictly-feedback nonlinear system with more desirable performance.

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