Self-tuning proportional integral control for consensus in heterogeneous multi-agent systems
Daniel Alberto Burbano-L., Pietro De Lellis, Mario di Bernardo · European Journal of Applied Mathematics · 2016
In this paper, we present a distributed Proportional-Integral (PI) strategy with self-tuning adaptive gains for reaching asymptotic consensus in networks of non-identical linear agents under constant disturbances. Alternative adaptive strategies are presented, based on global or local measures of the agents' disagreement. The proposed approaches are validated on a representative numerical example. Preliminary analytical results further confirm the viability of the self-tuning strategies.