In this paper, PID（proportional-integral-derivative） controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimens...In this paper, PID（proportional-integral-derivative） controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimensional nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. This paper will show that a 3-dimensional manifold can be constructed based on the information about the Lipschitz constants of the system nonlinear dynamics, such that whenever the three parameters of each PID controller are chosen from the manifold, the whole multi-agent system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. For a class of coupled first-order multi-agent nonlinear uncertain systems, a PI controller will be designed to stabilize the whole system.展开更多
基金supported by the National Natural Science Foundation of China under Grant No.11688101
文摘In this paper, PID（proportional-integral-derivative） controllers will be designed to solve the tracking problem for a class of coupled multi-agent systems, where each agent is described by a second-order high-dimensional nonlinear uncertain dynamical system, which only has access to its own tracking error information and does not need to communicate with others. This paper will show that a 3-dimensional manifold can be constructed based on the information about the Lipschitz constants of the system nonlinear dynamics, such that whenever the three parameters of each PID controller are chosen from the manifold, the whole multi-agent system can be stabilized globally and the tracking error of each agent approaches to zero asymptotically. For a class of coupled first-order multi-agent nonlinear uncertain systems, a PI controller will be designed to stabilize the whole system.
