Adaptive output feedback consensus tracking for linear multi-agent systems with unknown dynamics |
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Authors: | Junyong Sun |
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Affiliation: | State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing 100871, China |
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Abstract: | In this paper, the consensus tracking problem with unknown dynamics in the leader for the linear multi-agent systems is addressed. Based on the relative output information among the agents, decentralised adaptive consensus protocols with static coupling gains are designed to guarantee that the consensus tracking errors converge to a small neighbourhood around the origin and all the signals in the closed-loop dynamics are uniformly ultimately bounded. Moreover, the result is extended to the case with dynamic coupling gains which are independent of the eigenvalues of the Laplacian matrix. Both of the protocols with static and dynamic coupling gains are designed by using the relative outputs, which are more practical than the state-feedback ones. Finally, the theoretical results are verified through an example. |
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Keywords: | consensus tracking cooperative control output feedback adaptive control linear multi-agent systems |
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