Adaptive Consensus and Parameter Estimation of Multiagent Systems With an Uncertain Leader

• 成果类型: Article
• 署名作者: Wang, Shimin; Meng, Xiangyu
• 署名单位: University of Alberta; Louisiana State University System; Louisiana State University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3046215
• 发表日期: 2021
• 页码: 4393-4400
• 关键词: Observers; Multi-agent systems; Adaptive systems; Symmetric matrices; Frequency estimation; Linear systems; Laplace equations; Adaptive observer; consensus; Distributed control; multiagent systems; Parameter Estimation

摘要

In this article, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multiagent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with unknown amplitudes, frequencies, and phases. A fully distributed adaptive observer is established for each agent to estimate the unknown frequencies of the leader without using any global information. It is shown that if the signal of the leader is sufficiently rich, the estimation errors of the unknown frequencies converge to zero asymptotically for all the agents. Based on the designed distributed adaptive observer, a distributed adaptive control law is synthesized for each agent to solve the leader-following consensus problem.