Robust Cooperative Control For High-Order Nonlinear Multi-Agent Systems With Uncertainties

In the military and civil fields,cooperation control of multi-agent systems can improve the efficiency,reduce costs and system redundancy during the mission implementation.Therefore,it is widely used in systems such as multi-satellite exploration,multi-robot rescue and multi-UAV(Unmanned Aerial Vehicle)formation control.In practical systems,due to the inherent existence of the uncertainties such as external disturbance and parameter perturbation,most multi-agent systems have nonlinear characteristics,so it is more practical to study the cooperative control of nonlinear multi-agent systems.Based on the existing results of the consensus problem of linear multi-agent systems,this paper studies the problem of cooperative control of some typical nonlinear multi-agent systems.The main contents and achievements are listed as follows:(1)For the second-order multi-agent systems with mismatched uncertainties,both disturbance observer-based discontinuous and continuous sliding-mode controllers are proposed,which can not only suppress the external disturbances but also achieve consensus for the multi-agent systems.(2)For the high-order nonlinear multi-agent systems with uncertainties satisfying the Lipschitz condition,we study the consensus and containment problems.With the Luenberger observer technique,we propose robust containment controllers with input delay to reduce the conservation of the control system,which can not only suppress the uncertainties but also guarantee the system to achieve containment or consensus.(3)For the high-order nonlinear multi-agent systems with norm-bounded uncertainties,based on the idea of robust signal compensation,the robust controllers are composed with two parts:the nominal controller and compensation controller.The nominal controller is used to guarantee the stability and performance of the closed-loop system,and the compensation controller is used to restrain the influence of uncertainties.(4)Based on the event-driven mechanism,consensus controllers are designed for a class of high-order nonlinear multi-agent systems.The proposed controllers can not only guarantee the system to achieve consensus,but also avoid continuous communication among agents and reduce updating times of the controllers,which have advantages of reducing network communication and consumption,saving network bandwidth and so on.