Stable Distributed Adaptive Systems for Control of Linear Multiagent Systems in the Presence of Heterogeneous Actuator Dynamics and Unknown Parameters

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

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

1 Scopus citations

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 languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages460-465
Number of pages6
Volume2018-June
ISBN (Print)9781538654286
DOIs
StatePublished - Aug 9 2018
Externally publishedYes
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Other

Other2018 Annual American Control Conference, ACC 2018
CountryUnited States
CityMilwauke
Period6/27/186/29/18

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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