Distributed Asymptotic Consensus in Directed Networks of Nonaffine Systems With Nonvanishing Disturbance

作     者：Qingling Wang Changyin Sun Qingling Wang;Changyin Sun

作者机构：School of AutomationSoutheast UniversityNanjing 210096 Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of EducationNanjing 210096China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2021年第8卷第6期

页      面：1133-1140页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：This work was supported in part by the National Natural Science Foundation of China(61973074 61921004 U1713209) 

主　　题：Asymptotic consensus nonaffine systems nonvanishing disturbance Nussbaum-type functions unknown control directions 

摘      要：In this paper the distributed asymptotic consensus problem is addressed for a group of high-order nonaffine agents with uncertain dynamics,nonvanishing disturbances and unknown control directions under directed networks.A class of auxiliary variables are first introduced which forms second-order filters and induces all measurable signals of agents’*** view of this property,a distributed robust integral of the sign of the error(DRISE)design combined with the Nussbaum-type function is presented that guarantees not only the desired asymptotic consensus,but also the uniform boundedness of all closed-loop *** with the traditional sliding mode control(SMC)technique,the main feature of our approach is that the integral operation in the proposed control algorithm is designed to be adopted in a continuous manner and ensures less chattering *** results for a group of Duffing-Holmes chaotic systems are employed to verify our theoretical analysis.