Adaptive output stationary average consensus for heterogeneous unknown linear multi‐agent systems

Abstract

This study deals with the output stationary average consensus problem for heterogeneous linear multi-agent systems with unknown parameters under undirected or balanced directed networks. The output stationary average consensus means that the outputs of agents reach an agreement on the average of their initial outputs. Each agent is modelled as an unknown linear system of any order (which might extensively vary between the agents) with the relative degree one or two. The agent in the network has only access to its own output and the relative outputs of its neighbours. Based on a direct model reference adaptive control scheme, a novel decentralised adaptive output consensus protocol is proposed to ensure that the output of each agent converges to the output of its reference model, as well as reaching output stationary average consensus. Finally, an illustrative example is presented to better highlight the merit of the proposed protocol.