Adaptive output consensus tracking of uncertain multi-agent systems

Zheng Wang, Wenlin Zhang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

42 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Pages3387-3392
Number of pages6
StatePublished - 2011
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: 29 Jun 20111 Jul 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2011 American Control Conference, ACC 2011
Country/TerritoryUnited States
CitySan Francisco, CA
Period29/06/111/07/11

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