Abstract
ABSTRACTIn this paper, we study the asymptotic output tracking problem for a class of minimum phase uncertain linear discrete-time multi-agent systems over jointly connected digraphs. As the systems contain arbitrarily large uncertain parameters, the robust feedback control technique does not work. We develop a distributed adaptive control law composed of a distributed observer and a purely decentralised adaptive control law. We first establish a stability result for a class of linear switched systems, which extends the existing results. This stability result leads to a novel distributed observer for the leader system which estimates the leader's signal using the output of the leader system locally and passes the estimated leader's signal to each follower. We then further show that the distributed adaptive control law solves our problem under some mild conditions. An example is used to illustrate the effectiveness and generality of our approach.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call