Further Results on Multiagent Distributed Adaptive Control Systems with Unmeasurable Coupled Dynamics
K. Merve Dogan, Tansel Yucelen, Islam A. Aly, Jonathan A. Muse · 2022 American Control Conference (ACC) · 2022
In the previous work, a distributed adaptive control method was considered for uncertain multiagent systems with unmeasurable coupled dynamics, where overall closed-loop stability was established when local stability conditions for each agent were held. However, it was shown that these conditions could yield high-gain parameters in the resulting control signals, where this is not desired in practice. The contribution of this paper is a new distributed adaptive control architecture predicated on adaptive robustifying terms to remove the aforementioned high-gain requirement. An illustrative numerical example is included to demonstrate our theoretical contribution.