Robust adaptive backstepping control for hierarchical multi-agent systems with signed weights and system uncertainties

摘要

This study is concerned with the robust adaptive backstepping control for hierarchical multi-agent systems with signed weights and non-linear system uncertainties. The considered network model is divided into several levels, and the corresponding Laplacian matrix in each level may be non-positive definiteness due to the existence of signed weights, which can lead to the instability of the whole system. To solve this problem, two definitions on and are firstly introduced, and by combining with a novel graph theoretical result, an effective robust backstepping control scheme is then developed to ensure the stability of hierarchical multi-agent systems. In particular, this study is a generalisation of the prior works with non-negative weights. Finally, an example on hierarchical multi-vehicle systems is given to demonstrate the validity of the proposed method.