Adaptive Output Consensus For Multi-Agent Systems With An Uncertain Leader.
Shimin Wang, Xiangyu Meng · arXiv (Cornell University) · 2020
In this technical note, the leader-following output consensus problem is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by the sum of sinusoids with unknown amplitudes, frequencies and phases. A distributed adaptive observer is established for each agent to estimate the state of the leader even if the agent cannot directly access the output signal of the leader. It is shown that if the output signal of the leader is sufficiently rich, all agents can learn its frequencies based on the distributed adaptive observer. Utilizing the estimated state of the leader and its output frequencies, a distributed adaptive control law is synthesized for each agent to solve the leader-following output consensus problem.