In this paper, an adaptive leader-following consensus problem of multiagent systems with possibly persistent switching topology is solved. The control goal is to achieve state consensus of multiagent systems with switching topology in the presence of system parameter uncertainties. After introducing an indicator function, a new uniform nominal controller structure is developed to ensure consensus for multiagent systems with switching topology for the case of known system parameters, which provides the a priori knowledge for the adaptive control design. Then, an adaptive state consensus control scheme is developed for dealing with unknown dynamics of both the leader and the followers, for multiagent systems with switching topology. Complete stability and asymptotic state consensus analysis is shown to guarantee the desired consensus performance despite possibly persistent topology switches. A simulation study with several different cases is conducted to evaluate the effectiveness of the proposed adaptive consensus control scheme.
KEYWORDSadaptive control, multiagent system, piecewise constant parameters, state consensus, switching topology 1508
SummaryA new robust adaptive control scheme is developed for nonlinearly parametrized multivariable systems in the presence of parameter uncertainties and unmatched disturbances. The developed control scheme employs a new integrated framework of a functional bounding technique for handling nonlinearly parametrized system dynamics, an adaptive parameter estimation algorithm for dealing with parameter uncertainties, a nonlinear feedback controller structure for stabilization of interconnected system states, and a robust adaptive control design for accommodating unmatched disturbances. It is proved that such a new robust adaptive control scheme is capable of ensuring the global boundedness and mean convergence of all closed‐loop system signals. A complete simulation study on an air vehicle system with nonlinear parametrization in the presence of an unmatched wind disturbance is conducted, and its results verify the effectiveness of the proposed robust adaptive control scheme.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.