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Distributed Leaderless Consensus for a Class of Multiple Underactuated Systems with Unknown Nonlinearities and External Disturbances

Wei Zheng, Tian-Long Tang, and Hong-Bin Wang*
International Journal of Control, Automation, and Systems, vol. 20, no. 5, pp.1449-1460, 2022

Abstract : The distributed consensus tracking problem is investigated for a class of multiple underactuated systems with unknown nonlinearities and external disturbances under undirected topologies. The control goal is to drive the state of each agent gradually reach consensus based on local information of the topological structure. A distributed control algorithm based on the approximation capability of adaptive fuzzy for the case when both the relative position and relative velocity measurements are available is proposed. Because relative velocity measurements between neighbors are generally more difficult to obtain than relative position measurements, a distributed control algorithm without velocity measurements is proposed based on extended state observer (ESO). The proposed algorithms are proved to be distributed and can guarantee behavior according to Lyapunov stability theory. Simulation results on the overhead crane system are provided to show the effectiveness of the proposed algorithms.

Keyword : Adaptive control, consensus control, distributed control, extended state observer (ESO), leaderless, multiple underactuated systems.

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