Distributed adaptive control of networked multiagent systems with heterogeneous actuator dynamics

K. Merve Dogan, Benjamin C. Gruenwald, Tansel Yucelen, Jonathan A. Muse, Eric Butcher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Distributed adaptive control is a powerful framework to preserve stability of networked multiagent systems in the presence of uncertainties resulting from, for example, modeling errors, unknown control effectiveness, and perturbed information exchange. However, considering multiagent systems that consist of agents with heterogeneous actuator capabilities, implementation of distributed adaptive control approaches is not a trivial task. This is due to the fact that each agent in this case cannot identically execute given local control laws and this can lead to a poor networked multiagent system performance or even overall instability. To make the first attempt to this challenging problem, we consider a class of uncertain networked multiagent systems with single integrator dynamics in the context of a leader-follower problem and propose a novel distributed adaptive control design procedure for guaranteeing overall stability in the presence of agents having different actuator bandwidths. Specifically, a distributed adaptive control architecture is implemented for agent uncertainties and a hedging method, which modifies ideal reference models of each agent, is utilized to allow for correct adaptation that does not get affected due to the presence of actuator bandwidths. We then analyze the stability of the networked multiagent system and compute the actuator bandwidth limits of each agent using tools from Lyapunov stability and linear matrix inequalities.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5605-5610
Number of pages6
ISBN (Electronic)9781509059928
DOIs
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Other

Other2017 American Control Conference, ACC 2017
CountryUnited States
CitySeattle
Period5/24/175/26/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Dogan, K. M., Gruenwald, B. C., Yucelen, T., Muse, J. A., & Butcher, E. (2017). Distributed adaptive control of networked multiagent systems with heterogeneous actuator dynamics. In 2017 American Control Conference, ACC 2017 (pp. 5605-5610). [7963827] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7963827