Fully- and Partially- Distributed Adaptive Consensus of Second-Order Multi-Agent Systems Using Only Relative Position Measurements
Bahram Taran, Mohammad Reza Homaeinezhad · Drones and autonomous vehicles/Drones and Autonomous Vehicles · 2024
In this paper, the distributed leader-follower consensus of a group of agents with second-order dynamics under the undirected graph communication topology is studied. The main objective of this study is to solve a major practical multi-agent problem in which the acceleration of the leader is not communicated to each follower. In contrast, the follower agents include some unknown dynamics in their intrinsic structure. By assuming a linear regression structure for leader acceleration and agent’s unknown dynamics, Lyapunov-based adaptive control algorithms are devised to control the network of agents in the presence of the communication loss and modeling uncertainties. The presented study describes two multi-agent control strategies called fully-distributed adaptive control (FDAC) and partially-distributed adaptive control (PDAC) systems in the first method, the followers do not have any a priori information about the communication graph, while in the second method, some information about the eigenvalues of the communication graph is available. The mathematical manipulations required to prove the stability of the FDAC and PDAC methods are presented. Finally, illustrative simulations are conducted to render the proposed algorithms’ merits and efficiencies.