Command Governor Mechanism for Uncertain Multi-agent Systems with Actuator Dynamics
Atahan Kurttisi, K. Merve Dogan, N. Eren Sarioglu, Meryem Deniz · 2024
In this paper, we design a novel distributed adaptive controller that utilizes the hedging-based reference model and command governor mechanism to provide stability guarantees and improved transient response for the overall uncertain multi-agent system in the presence of actuator dynamics and unknown actuation capabilities. Specifically, the hedging-based reference models are used for each agent that enables correct adaptation unaffected by actuator dynamics; this alters the trajectories of the ideal reference model. In addition, the command governor mechanisms are used, which are available only to leader agent(s) that modify a given command's trajectory to capture the desired overall multi-agent dynamical system behavior in transient time. We investigate closed-loop system stability conditions using Lyapunov Theory and matrix mathematics and calculate stability boundaries regarding the actuation bandwidth using Linear Matrix Inequalities solutions. Moreover, we prove the asymptotic stability of the tracking error, which involves the difference between the states of the uncertain agent system and the hedged-based reference model. We then prove the command governor signal converges to zero. Finally, the performance of the proposed control algorithm is shown with a numerical example on a line graph with a leader-follower setting, and comparison results of the transient response with and without the command governor mechanism are given.