Abstract
One of the fundamental problems in control design for multiagent systems is the ability of the controlled system to guarantee stability and performance with respect to often nonidentical (e.g., slow and fast) agent actuation capabilities and unknown parameters in agent dynamics resulting from the lack of excessive modeling efforts for such low-cost platforms. Motivated from this standpoint, this paper addresses control synthesis and stability verification for linear time-invariant multiagent systems with heterogeneous actuator dynamics and system uncertainties. We propose a distributed adaptive control architecture in a leader-follower setting for this class of multi-agent systems based on a hedging method, where this method provides correct adaptation when a stability condition based on linear matrix inequalities holds. This condition also reveals the fundamental tradeoff between heterogeneous agent actuation capabilities and unknown parameters in agent dynamics.
Original language | English (US) |
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Title of host publication | 2018 Annual American Control Conference, ACC 2018 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 460-465 |
Number of pages | 6 |
Volume | 2018-June |
ISBN (Print) | 9781538654286 |
DOIs | |
State | Published - Aug 9 2018 |
Externally published | Yes |
Event | 2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018 |
Other
Other | 2018 Annual American Control Conference, ACC 2018 |
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Country | United States |
City | Milwauke |
Period | 6/27/18 → 6/29/18 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering