Output Consensus Using Simple Adaptive Control in Heterogeneous Discrete-time Multi Agent Systems
Ryuto Kobayashi, Natsuki Kawaguchi, Takao Satô · 2024
In this paper, we propose a design of output consensus control systems for heterogeneous discrete-time Multi Agent Systems (MASs). In the proposed method, Parallel Feedforward Compensator (PFC) is added to agents to have Almost Strictly Positive Real (ASPR)-ness, and Simple Adaptive Control (SAC) is used theory. The proposed method to achieve output consensus for MAS is designed in two main steps. First, the control law of the reference models to be followed by the agents is designed to achieve the output agreement of the reference model. Next, using SAC theory, the control law of the agents is designed so that the outputs of the agents follow those of the reference models. With the above design, the proposed method pursues tracking performance while simultaneously compensating for stability. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed method.