Adaptive Consensus Control of Multi-Agent Systems with Large Uncertainty and Time Delays
Li Liu, Yu Meng, Dongxu Zou, Weicun Zhang · Journal of Robotics Networking and Artificial Life · 2014
A weighted multi-model adaptive control (WMMAC) method is proposed to achieve consensus of multi-agent system with large parameter uncertainty and communication delays, in which control is adopted as local control strategy to deal with smaller parameter uncertainty.Moreover a simple and effective weighting algorithm is adopted to assign weights for each local controller, based on which the global control law is obtained as a weighted sum of all the local control at each time instant.The simulation results demonstrate the effectiveness of the proposed method.