A Novel Distributed Adaptive Controller for Multi-Agent Systems with Double-Integrator Dynamics: A Hedging-Based Approach

In this paper, we focus on designing a model reference adaptive control-based distributed control law to drive a set of agents with double-integrator dynamics in a leader–follower fashion in the presence of system anomalies such as agent-based uncertainties, unknown control effectiveness, and actuat...

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Bibliographic Details
Published in:Electronics (Basel) 2024-03, Vol.13 (6), p.1142
Main Authors: Kurttisi, Atahan, Dogan, Kadriye Merve, Gruenwald, Benjamin Charles
Format: Article
Language:English
Subjects:
Actuators
Adaptive control
Closed loops
Control algorithms
Control theory
Controllers
Design
Distributed control systems
Double integrators
Dynamic stability
Dynamics
Hedging (Finance)
Laws, regulations and rules
Linear matrix inequalities
Mathematical analysis
Model reference adaptive control
Multiagent systems
Stability analysis
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Summary:In this paper, we focus on designing a model reference adaptive control-based distributed control law to drive a set of agents with double-integrator dynamics in a leader–follower fashion in the presence of system anomalies such as agent-based uncertainties, unknown control effectiveness, and actuator dynamics. In particular, we introduce a novel hedging-based reference model with second-order dynamics to allow an adaptation in the presence of actuator dynamics. We show the stability of the overall closed-loop multi-agent system by utilizing the Lyapunov Stability Theory, where we analyze the stability condition by using the Linear Matrix Inequalities method to show the boundedness of the reference model and actuator states. Finally, we illustrate the efficacy of the proposed distributed adaptive controller on an undirected and connected line graph in five cases.
ISSN:2079-9292
2079-9292
DOI:10.3390/electronics13061142