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Type: Journal article
Title: Adaptive output consensus with saturation and dead-zone and its application
Author: Shen, Q.
Shi, P.
Shi, Y.
Zhang, J.
Citation: IEEE Transactions on Industrial Electronics, 2017; 64(6):5025-5034
Publisher: IEEE
Issue Date: 2017
ISSN: 0278-0046
Statement of
Qikun Shen, Peng Shi, Yan Shi and Jianhua Zhang
Abstract: In this paper, the output consensus problem of multiple nonlinear systems on directed graph with a fixed topology is studied. It is assumed that all followers are subject to saturation and dead-zone input. Using the function approximation capability of neural networks together with the backstepping design technique, a distributed adaptive control scheme is proposed to guarantee that all the outputs of the followers in the graph asymptotically synchronize to the output of a leader with synchronization errors converging to the origin regardless of the system unknown dynamics and external disturbances. Based on the algebraic graph theory and Lyapunov theory, stability analysis of the resulting closed-loop system is conducted. Finally, simulation results of autonomous underwater vehicles illustrate the effectiveness and potential of the new approach developed in the paper.
Keywords: Adaptive control; consensus; cooperative control; dead-zone; saturation
Rights: © 2016 IEEE.
RMID: 0030076009
DOI: 10.1109/TIE.2016.2587858
Grant ID:
Appears in Collections:Electrical and Electronic Engineering publications

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