Distributed Stabilization of Interconnected Linear Multiagent Systems with Adaptive Decoupling under Cooperative Finite Excitation
Vahid Rezaei, Margareta Stefanovic · AIAA Scitech 2020 Forum · 2020
Centralized and decentralized control configurations have been traditionally used to ensure the stability of large-scale systems. Recently, inspired by the advances in the distributed consensus of multiagent systems, graph-theoretic tools have been successfully applied for the distributed stabilization problem in interconnected multiagent systems subject to the agent- and multiagent system-level modeling uncertainties. In this paper, we assume that the agent layer interconnection topology is completely known to the control designer. We propose a multilayer control framework which, by mixing the advantages of graph, optimal, and adaptive control theories, provides a systematic design approach for the distributed stabilization of interconnected multiagent systems with completely unknown interconnection allocation matrices. The proposed approach results in a three-layer interconnected MAS with an agent layer and two cooperation and decoupling control layers. Under a very mild cooperative finite excitation condition, we prove the exponential convergence of all state trajectories to the origin as well as the exponential convergence of all estimated interconnection allocation matrices to their actual values.