Stability Verification for Uncertain Multiagent Systems in the Presence of Heterogeneous Coupled and Actuator Dynamics
K. Merve Dogan, Tansel Yucelen, Jonathan A. Muse · AIAA Scitech 2021 Forum · 2021
View Video Presentation: https://doi.org/10.2514/6.2021-0530.vid In the distributed adaptive control of uncertain linear time-invariant multiagent systems, it is well-known that the presence of heterogeneous coupled and/or actuator dynamics can yield to unstable controlled system trajectories. In this paper, we focus on the analysis and synthesis of a distributed adaptive architecture for control of uncertain multiagent system with both heterogeneous coupled and actuator dynamics. Specifically, a distributed adaptive control architecture for this class of uncertain multiagent systems is analyzed and two stability limits are developed. While the first one depends on the matrices resulting from the coupled dynamics, the second one depends on the first one that captures the tradeoff between heterogeneous agent actuation capabilities and unknown parameters in the agent dynamics. An illustrative numerical example is also provided to demonstrate the efficacy of the proposed architecture.