Control of Uncertain Multiagent Systems With Spatiotemporal Constraints

• Published in: IEEE transactions on control of network systems Vol. 8; no. 3; pp. 1107 - 1115
• Main Authors: Arabi, Ehsan, Yucelen, Tansel
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.09.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Algorithms; Control algorithms; Control stability; Control theory; Convergence; Error signals; Heuristic algorithms; Multi-agent systems; Multiagent systems; robustness; stability; Stability analysis; Trajectory; uncertain systems; Uncertainty; Upper bound
• ISSN: 2325-5870; 2372-2533
• DOI: 10.1109/TCNS.2021.3049876

In this article, we propose a new distributed control algorithm for multiagent systems with single-integrator dynamics subject to spatial and temporal constraints in the presence of vanishing and nonvanishing system uncertainties. In particular, the proposed approach guarantees a user-defined performance bound on the system error signal of each agent (spatial constraints), where an error-dependent learning rate is used in the adaptive control architecture. In addition, the multiagent system achieves a prescribed finite-time convergence to the position of a time-varying leader (temporal constraint), where we make use of a time transformation approach. This time transformation links a prescribed finite-time interval to a stretched infinite-time interval, where we perform the stability analysis on the latter interval. The efficacy of the proposed control architecture is also demonstrated through a numerical example.