MRAC-based dynamic consensus of linear systems with biased measurements over directed networks

Abstract

In this paper we address the dynamic leaderless consensus control problem for generic linear systems (stable, unstable, marginally stable, etc.) interconnected over directed networks and under the influence of biased measurements. Essentially, the control problem consists in redesigning a standard distributed consensus controller which, for each system, relies on own state biased measurements and respective erroneous data received from a set of neighbors. The difficulty in such a scheme resides in the fact that the measurement bias is directly amplified by the control gain so it cannot be handled as an additive external disturbance. Our control design relies, on one hand, on the solution of a Riccati equation and, on the other, on the design of an estimator reminiscent of a model-reference-adaptive control design. The estimator successfully computes a bias estimate and completely compensates for its effect if the bias is constant—indeed, in this case, we establish exponential stability of the consensus manifold and we show that the controller provides robustness with respect to time-varying biases.