Abstract
This paper studies the analysis and synthesis of distributed adaptive control architectures for uncertain multiagent systems with coupled dynamics in a leader-follower setting, where overall closed-loop system stability is established, and sufficient stability conditions are defined. Specifically, we first analyse a standard distributed adaptive control law and reveal local stability conditions that guarantee the boundedness of the closed-loop system trajectories. We next synthesise fixed and adaptive robustifying terms to show relaxed local stability conditions. We also show that the fixed robustifying term can yield high-gain parameters in the resulting control signals, where the adaptive robustifying term removes this high-gain requirement. Finally, an illustrative numerical example is further presented to compare the proposed methods and demonstrate our theoretical contributions.
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