Fully distributed robust consensus control of multi-agent systems with heterogeneous unknown fractional-order dynamics

摘要

This paper investigates the robust consensus control problem of heterogeneous unknown nonlinear fractional-order multi-agent systems (FOMASs) without leader and with multiple leaders of bounded inputs. More specifically, FOMASs with nonidentical unknown coupling nonlinearities and external disturbances are considered in this paper, which takes the first-order MASs as its special case. Based on the sigma-modification adaptive control technique, some class of discontinuous robust adaptive control protocols are proposed to solve the leaderless consensus problem and containment consensus problem, respectively. By means of the set-valued maps theory and by artfully choosing Lyapunov function, it is shown that the proposed consensus protocols are user friendly in that they are capable of compensating uncertain coupling nonlinearities, rejecting disturbances, rendering smaller control gains and thus requiring smaller amplitude on the control input while preserving global consensus convergence. All of the proposed robust adaptive consensus protocols are independent of any global and unknown information and thus are fully distributed. Some numerical simulations are provided to validate the correctness of the obtained results.