D-MRACO: Decentralized Model Reference Adaptive Controller and Observer
Dongdong Yue, Simone Baldi, Jinde Cao · IFAC-PapersOnLine · 2023
Model Reference Adaptive Controller and Observer (MRACO) has been proposed recently in Ohrem and Holden (2021) for a single unknown plant. Motivated by the advances in multiagent systems, we propose a unified framework named Decentralized MRACO (D-MRACO), addressing leaderless synchronization and leader-follower tracking problems of multiple unknown plants (agents). Numerical examples show the efficiency and robustness of the proposed D-MRACO.