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

DOI10.1109/TAC.2020.3046215MaRDI QIDQ4957739zbMATH OpenOpenAlexFDO

Authors Shimin Wang, Xiangyu Meng

Publication date 9 September 2021

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2002.03088

zbMATH Keywords

adaptive observerconsensusdistributed controlmulti-agent systemsparameter estimation

Mathematics Subject Classification ID

Hierarchical systems (93A13) Multi-agent systems (93A16) Observers (93B53) Adaptive control/observation systems (93C40) Consensus (93D50)

Abstract: In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with unknown amplitudes, frequencies and phases. A distributed adaptive observer is established for each agent to estimate the unknown frequencies of the leader. 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.

Cited in

(12)

• Adaptive size-independent control of uncertain leader following systems with only relative displacement information
• Adaptive consensus for uncertain multi-agent systems with stochastic measurement noises
• Adaptive consensus with a virtual leader of multiple agents governed by locally Lipschitz nonlinearity
• A Unified Framework for Adaptive Leaderless Consensus of Uncertain Multiagent Systems Under Directed Graphs
• Mean Field LQG Control in Leader-Follower Stochastic Multi-Agent Systems: Likelihood Ratio Based Adaptation
• Behavior learning based distributed tracking control for human-in-the-loop multi-agent systems
• Agent‐based stratosphere airship cooperative control for earth‐observing system
• Learning nonlinear dynamics in synchronization of knowledge-based leader-following networks
• Adaptive leader-following formation for high-order nonlinear multi-agent systems with an uncertain leader system over switching networks
• Robust cooperative output regulation for linear multi-agent systems with unknown leader and disturbances
• Cooperative robust output regulation for networks of hyperbolic systems with unknown signal models
• Distributed state estimation for discrete-time uncertain linear systems over jointly connected switching networks

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