Distributed adaptive control and stability verification for linear multiagent systems with heterogeneous actuator dynamics and system uncertainties

Abstract

ABSTRACTThe contribution of this paper is a control synthesis and stability verification framework for linear time-invariant multiagent systems with heterogeneous actuator dynamics and system uncertainties. In particular, we first propose a distributed adaptive control architecture in a leader-follower setting for this class of high-order multiagent systems. The proposed architecture uses a hedging method, which alters the ideal reference model dynamics of each agent in order to ensure correct adaptation in the presence of heterogeneous actuator dynamics of these agents. We then use Lyapunov stability theory and linear matrix inequalities to analyse the proposed architecture. This analysis reveals a stability condition, where evaluation of this condition with respect to a given graph topology allows stability verification of the controlled multiagent system. From a practical point of view, this condition also shows a fundamental tradeoff between heterogeneous agent actuation capabilities and unknown parameters in agent dynamics. Several illustrative numerical examples are also provided to demonstrate the efficacy of the proposed architecture.