Model Reference Adaptive Stabilizing Control With Application to Leaderless Consensus

• 成果类型: Article
• 署名作者: Yue, Dongdong; Baldi, Simone; Cao, Jinde; De Schutter, Bart
• 署名单位: Southeast University - China; Yonsei University; Delft University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3313642
• 发表日期: 2024
• 页码: 2052-2059
• 关键词: Adaptation models; STANDARDS; mathematical models; observers; Adaptive control; Target tracking; Multi-agent systems; Adaptive stabilization; consensus; directed spanning tree; model reference adaptive control (MRAC); multiagent systems

摘要

This article describes an extension of the well-known model reference adaptive control (MRAC) approach. The extension relies on explicitly involving the tracking error in the feedback control law: it is shown that including this term along with its appropriate extra adaptive gain allows one to handle possibly unstable reference dynamics. Owing to its stabilizing nature, the proposed framework is referred to as model reference adaptive stabilizing control. Such an extension turns out to be particularly useful in leaderless consensus of heterogeneous uncertain agents, since the literature has discussed that leaderless adaptation may not avoid unstable closed-loop dynamics. In such consensus setting, the framework, referred to as model reference adaptive stabilizing consensus, generalizes the existing MRAC-based consensus schemes and can achieve consensus when state-of-the-art MRAC-based schemes may fail.