Distributed adaptive consensus output tracking of unknown linear systems with external disturbances
Chiyu Zhang, Ran Huang, Jinhui Zhang · 2016
In this paper, aiming at asymptotic output consensus tracking, a distributed adaptive controller is proposed for a group of unknown linear subsystems with external disturbances. The subsystems are allowed to have nonidentical dynamics whereas with similar structures. The interaction graph among subsystems is directed, and the desired trajectory information is available only to a subset of the subsystems. By introducing an auxiliary signal, the obstacle caused by unmeasured states and disturbances is circumvented. We have shown that by using the proposed method, the global asymptotic consensus tracking for the outputs of all subsystems is guaranteed and all signals of the resultant closed-loop system are globally uniformly bounded. Simulation results are presented to illustrate the effectiveness of the proposed scheme.