Uncertain Multiagent System in the Presence of Coupled Dynamics: An Asymptotic Approach
Islam A. Aly, K. Merve Dogan · AIAA SCITECH 2022 Forum · 2022
View Video Presentation: https://doi.org/10.2514/6.2022-0359.vid By using distributed adaptive control algorithm with observer dynamics, this paper proposes an asymptotic decoupling approach for uncertain multiagent systems in the presence of state-dependent coupled dynamics. The major contribution of the proposed framework is that it guarantees asymptotic convergence of the error between the trajectories of an uncertain multiagent system and a given reference model without relying on any measurements from the coupled dynamics. A generalization to address the uncertainty in the control effectiveness matrix is also provided. An illustrative numerical example is then given to demonstrate our theoretical contributions.