Observer Based Adaptive Backstepping Consensus Tracking Control for High Order Nonlinear Semi Strict Feedback Multiagent Systems
Combined with backstepping techniques, an observer based adaptive consensus tracking control strategy is developed for a class of high order nonlinear multiagent systems, of which each follower agent is modeled in a semi strict feedback form. By constructing the neural network based state observer for each follower, the proposed consensus control method solves the unmeasurable state problem of high order nonlinear multiagent systems. The control algorithm can guarantee that all signals of the multiagent system are semi globally uniformly ultimately bounded and all outputs can synchronously track a reference signal to a desired accuracy. A simulation example is carried out to further demonstrate the effectiveness of the proposed consensus control method.
IEEE Transactions on Cybernetics