Adaptive Consensus and Parameter Estimation of Multiagent Systems With an Uncertain Leader

In this article, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multiagent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with unknown amplitudes, frequencies, and phases. A fully distribu...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2021-09, Vol.66 (9), p.4393-4400
Main Authors: Wang, Shimin, Meng, Xiangyu
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive observer
Adaptive systems
consensus
distributed control
Frequency estimation
Laplace equations
Linear systems
Multi-agent systems
Multiagent systems
Observers
Parameter estimation
Symmetric matrices
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Summary:In this article, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multiagent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with unknown amplitudes, frequencies, and phases. A fully distributed adaptive observer is established for each agent to estimate the unknown frequencies of the leader without using any global information. It is shown that if the signal of the leader is sufficiently rich, the estimation errors of the unknown frequencies converge to zero asymptotically for all the agents. Based on the designed distributed adaptive observer, a distributed adaptive control law is synthesized for each agent to solve the leader-following consensus problem.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2020.3046215