Distributed observer-based consensus tracking for nonlinear MASs with nonuniform input delays and disturbances |
| |
| Institution: | 1. School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China;2. School of Communication and Electronics, Jiangxi Science and Technology Normal University, Nanchang 330013, China;3. School of Mechano-electronic Engineering, Xidian University, Xi’an 710071, China;1. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;2. School of Vehicle and Mobility, Tsinghua University, Bejing 100084, China;1. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China;2. Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen 518055, China;1. School of Information and Control Engineering, Qingdao University of Technology, Qingdao, Shandong 266520, PR China;2. School of Engineering, Qufu Normal University, Rizhao, Shandong 276826, PR China;3. School of Automation, Southeast University, Nanjing, Jiangsu 210096, PR China;1. School of Mathematics and Statistics, Beijing Jiaotong University, Beijing 100044, China;2. School of Mathematical Sciences, University of Jinan, Jinan 250022, China |
| |
| Abstract: | In this paper, we investigate the consensus tracking problem of nonlinear MASs with nonuniform time-varying input delays and external disturbances. For each follower, the composited disturbance observer and the state observer are employed to estimate bounded composited disturbances and unmeasured states, and a distributed observer based on output-feedback is proposed to approximate the leader’s states approachably. Sequentially, the consensus tracking control is converted into a stability control problem for the nonlinear MASs with nonuniform time-varying input delays. Subsequently, a distributed controller based on the truncated prediction approach is presented, which only depends on the boundary value of time-varying input delays. The distributed controller can render each follower synchronically stable via the Lyapunov stability theory. Finally, a group of single-link manipulators is used as an example to verify the effectiveness of the theoretical results. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
