Adaptive Cooperative Output Regulation for a Class of Nonlinear Multi-Agent Systems

In this technical note, an adaptive cooperative output regulation problem for a class of nonlinear multi-agent systems is considered. The cooperative output regulation problem is first converted into an adaptive stabilization problem for an augmented multi-agent system. A distributed adaptive contro...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 60; no. 6; pp. 1677 - 1682
Main Author Liu, Lu
Format Journal Article
LanguageEnglish
Published IEEE 01.06.2015
Subjects
Adaptive control
Closed loop systems
Multi-agent systems
Nickel
nonlinear systems
Output feedback
output regulation problem
Trajectory
output regulation problem
nonlinear systems
Multi-agent systems
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Summary:In this technical note, an adaptive cooperative output regulation problem for a class of nonlinear multi-agent systems is considered. The cooperative output regulation problem is first converted into an adaptive stabilization problem for an augmented multi-agent system. A distributed adaptive control law with adoption of Nussbaum gain technique is then proposed to globally stabilize this augmented system. This control scheme is designed such that, in the presence of unknown control direction and large parameter variations in each agent, the closed-loop system maintains global stability and the output of each agent tracks a class of prescribed signals asymptotically.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2014.2360023