Adaptive Consensus of Nonlinearly Parameterized Multi-Agent Systems

This letter studies the distributed adaptive consensus problem for multi-agent systems (MASs) subject to nonlinearly parameterized uncertainties. In the existing research, an adaptive consensus scheme was developed for the same scenario but under the assumption that the uncertainties must be linearl...

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Bibliographic Details
Published in:IEEE control systems letters 2019-07, Vol.3 (3), p.505-510
Main Authors: Imran, Imil Hamda, Zhiyong Chen, Yamin Yan, Minyue Fu
Format: Article
Language:English
Subjects:
Adaptive control
Closed loop systems
distributed control
Lyapunov methods
Multi-agent systems
Networked control systems
Trajectory
Uncertainty
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Summary:This letter studies the distributed adaptive consensus problem for multi-agent systems (MASs) subject to nonlinearly parameterized uncertainties. In the existing research, an adaptive consensus scheme was developed for the same scenario but under the assumption that the uncertainties must be linearly parameterized in their unknown parameters. In this letter, the assumption is removed by using a novel distributed adaptive update law, which makes the scheme applicable for more general nonlinear MASs. This letter contains a general design paradigm using the certainty equivalence principle and specific implementation of it on nonlinear second-order MASs. The results are supported by rigorous mathematical analysis and numerical simulation.
ISSN:2475-1456
2475-1456
DOI:10.1109/LCSYS.2019.2911688