带有不确定性多智能体系统的分散自适应协调控制(英文)

This paper is concerned with the leader-following consensus problem of a group of au-tonomous agents with unknown parameters and unmodeled bounded additive disturbances. Under the assumption that the topology graph has symmetric weights, distributed adaptive controllers are proposed to guarantee that each agent can follow the leader in the presence of bounded disturbances. For the dynamics without disturbances, the proposed dynamic controller ensures that the states of all agents track the leader’s state, and the errors of parameters eventually converge to the compact set which can be made as small as desired by an appropriate choice of the design parameters.

Distributed Adaptive Control for Multi-agent Consensus with Uncertainties