Adaptive consensus tracking for linear multi-agent systems with heterogeneous unknown nonlinear dynamics

This paper considers the consensus tracking control problem for general linear multi-agent systems with unknown dynamics in both the leader and all followers. Based on parameterizations of the unknown dynamics of all agents, two decentralized adaptive consensus tracking protocols, respectively, with dynamic and static coupling gains, are proposed to guarantee that the states of all followers converge to the state of the leader. Furthermore, this result is extended to the robust adaptive consensus tracking problem in which there exist parameter uncertainties and Lipschitz-type disturbances in the network. It is also shown that the parameter estimation errors converge to zero based on contradiction method and Lyapunov function approach. Finally, a simulation example is provided to illustrate the theoretical results. Copyright (C) 2015 John Wiley & Sons, Ltd.

本文考虑了领导者和所有跟随者动力学均未知的一般线性多智能体系统的一致性跟踪控制问题。基于所有智能体未知动力学的参数化，分别提出了具有动态和静态耦合增益的两种分散式自适应一致性跟踪协议，以保证所有跟随者的状态收敛到领导者的状态。此外，该结果被扩展到网络中存在参数不确定性和利普希茨型干扰的鲁棒自适应一致性跟踪问题。还基于反证法和李雅普诺夫函数方法证明了参数估计误差收敛到零。最后，提供了一个仿真示例来说明理论结果。版权所有 (C) 2015 约翰威立父子有限公司