Finite-time distributed cooperative control for heterogeneous nonlinear multi-agent systems with unknown input constraints

摘要

In this paper, the distributed cooperative control problem of heterogeneous nonlinear multi-agent systems (HNMASs) which are of pure-feedback forms coupled with nonaffine dynamics is considered with momentous emphasis on finite-time convergence. Multiple kinds of input constraints are also considered and can be completely unknown. To achieve the dynamic tracking for the heterogeneous followers with unknown input constrains, there are two consensus theorems are proposed, one of which can be utilized to achieve finite-time convergence. Meanwhile, it is the blend of fraction power feedback method and neural network (NN) technique that let the controlled systems have the finite-time characteristic. In the proposed tracking control protocols, only the local position information from neighbors or leader is required. In the end, the effectiveness of two proposed consensus algorithms is confirmed and compared by numerical simulation. (C) 2020 Elsevier B.V. All rights reserved.