TY - GEN
T1 - Adaptive output consensus tracking of uncertain multi-agent systems
AU - Wang, Zheng
AU - Zhang, Wenlin
AU - Guo, Yi
PY - 2011
Y1 - 2011
N2 - In this paper, we consider the adaptive output consensus tracking of a class of higher-order parametric strictfeedback systems with mismatched uncertainties. The consensus reference is taken as a virtual leader, whose output is available to the leader of the group. The proposed approach is based on the estimation of consensus reference and decentralized tracking control, where each agent communicates with their neighbors, estimates the consensus reference, and make a control decision based on the estimated consensus reference. Challenges of the approach include the design of decentralized adaptive tracking control assuming each agent has knowledge of the consensus reference in the presence of mismatched uncertainties, and the design of estimators that allow agents to make correct estimations of the consensus reference. Sufficient conditions are given to ensure output consensus tracking is achieved. Simulation results show satisfactory performances.
AB - In this paper, we consider the adaptive output consensus tracking of a class of higher-order parametric strictfeedback systems with mismatched uncertainties. The consensus reference is taken as a virtual leader, whose output is available to the leader of the group. The proposed approach is based on the estimation of consensus reference and decentralized tracking control, where each agent communicates with their neighbors, estimates the consensus reference, and make a control decision based on the estimated consensus reference. Challenges of the approach include the design of decentralized adaptive tracking control assuming each agent has knowledge of the consensus reference in the presence of mismatched uncertainties, and the design of estimators that allow agents to make correct estimations of the consensus reference. Sufficient conditions are given to ensure output consensus tracking is achieved. Simulation results show satisfactory performances.
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M3 - Conference contribution
AN - SCOPUS:80053139759
SN - 9781457700804
T3 - Proceedings of the American Control Conference
SP - 3387
EP - 3392
BT - Proceedings of the 2011 American Control Conference, ACC 2011
T2 - 2011 American Control Conference, ACC 2011
Y2 - 29 June 2011 through 1 July 2011
ER -