Finite-time Model Reference Adaptive Consensus Control for Heterogeneous Multi-agent Systems with Disturbances
Suxiong Cai, G. P. Chen, Junlong Pan, Binbin Zhang, Licheng Shi · 2024
In this research, we proposed a novel finite-time model reference adaptive control (FT-MRAC) strategy for the consensus control of heterogeneous multi-agent systems (MAS) under the influence of disturbance in a finite time. The proposed FTMRAC scheme designs adaptive control gain matrices to track the consensus between the reference trajectory and the agent. The control input contains the estimation of the perturbation to enhance the robustness of the disturbance. The FT-MRAC leverages adaptive laws and Lyapunov-based techniques to guarantee the convergence of the system states to a desired reference model in a finite time. The effectiveness of the proposed method is demonstrated through a numerical simulation.