Adaptive output tracking of linear uncertain discrete-time networked systems over switching topologies
Junwei Liu, Jie Huang · International Journal of Control · 2018
In this paper, we study the asymptotic output tracking problem for a class of minimum phase uncertain linear discrete-time multi-agent systems over jointly connected digraphs. As the systems contain arbitrarily large uncertain parameters, the robust feedback control technique does not work. We develop a distributed adaptive control law composed of a distributed observer and a purely decentralised adaptive control law. We first establish a stability result for a class of linear switched systems, which extends the existing results. This stability result leads to a novel distributed observer for the leader system which estimates the leader's signal using the output of the leader system locally and passes the estimated leader's signal to each follower. We then further show that the distributed adaptive control law solves our problem under some mild conditions. An example is used to illustrate the effectiveness and generality of our approach.