A Unified Framework for Adaptive Leaderless Consensus of Uncertain Multiagent Systems Under Directed Graphs

• 成果类型: Article
• 署名作者: Mei, Jie; Ren, Wei; Song, Yongduan
• 署名单位: Harbin Institute of Technology; University of California System; University of California Riverside; Chongqing University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3062594
• 发表日期: 2021
• 页码: 6179-6186
• 关键词: Directed graphs; uncertainty; Multi-agent systems; Laplace equations; Vehicle dynamics; Adaptation models; switches; Directed graphs; model reference adaptive consensus (MRACon); multiagent systems; switching topologies; uncertainties

摘要

Due to the nonsymmetric property of the associated Laplacian matrix and the existence of uncertainties in the agent dynamics, the leaderless consensus problem of uncertain multiagent systems under general directed graphs is challenging. Motivated by the classical model reference adaptive control, in this article, we propose a simple yet efficient scheme, called the model reference adaptive consensus, by arranging each agent a reference output to track, where the output is generated by a linear reference model with the relative state measurements as input. We consider two typical agent dynamics, namely, the general linear dynamics with matching uncertainties and the second-order dynamics with extended matching uncertainties. Different linear reference models are designed for the above uncertain agent dynamics. For the first one, dynamical consensus is achieved under a fixed directed graph containing a directed spanning tree. For the latter one, position consensus is achieved under switching uniformly jointly connected graphs. In the proposed algorithms, only the relative states are interacted among the agents and there is no requirement on the communication of virtual signals.