Adaptive Consensus Control of Multi-Agent Systems with Large Uncertainty and Time Delays

Abstract

A weighted multi-model adaptive control (WMMAC) method is proposed to achieve consensus of multi-agent system with large parameter uncertainty and communication delays, in which control is adopted as local control strategy to deal with smaller parameter uncertainty. Moreover a simple and effective weighting algorithm is adopted to assign weights for each local controller, based on which the global control law is obtained as a weighted sum of all the local control at each time instant. The simulation results demonstrate the effectiveness of the proposed method.