Coordination of Uncertain Multiagent Systems with Non-Identical Actuation Capacities
Atahan Kurttisi, Islam A. Aly, K. Merve Dogan · 2022 IEEE 61st Conference on Decision and Control (CDC) · 2022
This paper provides a distributed adaptive control architecture for uncertain multiagent systems with non-identical actuation capacities and unknown control effectiveness to achieve cooperative behaviors for real-world applications. In detail, our approach includes a user-assigned Laplacian matrix for creating cooperative behaviors with multiple agents, a hedging-based reference model to provide correct adaptation that is not affected by the presence of heterogeneous actuator dynamics in the networked system, and a distributed adaptive control architecture to deal with the system anomalies. The stability of the overall multiagent system is showed by utilizing the Lyapunov stability theorem, and allowance actuator bandwidth limits are calculated by using linear matrix inequalities. Results of numerical examples are illustrated to indicate the performance of the proposed control algorithm on a multiagent system that is a fully connected circle graph.