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

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.