A Study Of Tracking And Control Problems For High-Order Nonlinear Multi-Agent Systems With Uncertainties

In recent years,with the wide applications of multi-agent control technology in unmanned aircraft(UAV),robot control,spacecraft control,sensor network and other fields.The research in the field of multi-agent systems is booming.The consensus control problem is a typical problem of multi-agent systems.The early work was carried out around the first-order or second-order deterministic systems,and the actually controlled systems are often more complicated or have strong nonlinearities.Given this,this paper studies the consensus problem in high-order nonlinear leader-follower multi-agent system with external interference,the main work is as follows:The first Chapter elaborates on the research background and significance of the consensus problem of multi-agent systems.At the same time,it summarizes and analyzes the current domestic and foreign research status on the topic of high-order unknown uncertain nonlinear systems and anti-disturbance,which leads to the main work and preliminary knowledge.In Chapter 2,we study the prescribed performance control of high-order unknown nonlinear multi-agent systems with observable disturbances.First,the neural network is used to estimate the unknown nonlinear function of each node,and the disturbance observer is used to compensate for the external disturbance.We design the system controller to maintain the synchronization error to keep the specified performance.Then,the corresponding high-level unknown nonlinear leader-follower multi-agent system consensus criterion is established under the Lyapunov stability framework.Finally,the corresponding consistency algorithm flow is given,and the effectiveness of the designed consistency algorithm is verified through simulation examples.In Chapter 3,we study the leader-follower consistency problem of a class of high-order uncertain nonlinear multi-agent systems.An adaptive sliding mode disturbance observer is proposed,which can estimate the system disturbance in a finite time.Based on the sliding mode disturbance observer,a continuous and non-singular distributed sliding mode control method is proposed to make each uncertain agent system achieve closed-loop stability and ensure that the agent system state is synchronized within finite time.Finally,we use numerical simulation to verify the effectiveness of the proposed method.In Chapter 4,we summarize the contents of the full text and future related research is discussed.