Distributed robust adaptive output-feedback synchronization
Muhammad Ridho Rosa, Erwin Susanto · IOP Conference Series Materials Science and Engineering · 2021
Abstract This paper addresses the output synchronization of heterogeneous uncertain linear systems in the presence of input disturbance. The synchronization problem is solved by introducing the distributed model reference adaptive control. The distinguishing features of the proposed approach are the capability to synchronize the entire network output by using only the control input and the output of neighbouring systems. It also provides synchronization in the presence of bounded control input disturbance. The control input disturbance is handled by extending the proposed method with the sigma-modification. By using the distributed matching condition assumptions, the coupling gains between the agents can be updated adaptively. The distributed robust adaptive controller is first analysed by using the distributed Lyapunov function. Its effectiveness is validated in the simulation of the cart inverted pendulum systems stabilization problem.