Cooperative Tracking Control of Unknown Discrete-Time Linear Multiagent Systems Subject to Unknown External Disturbances

• Published in: IEEE transactions on cybernetics Vol. 53; no. 10; pp. 6516 - 6528
• Main Authors: Yang, Ruohan, Liu, Lu, Feng, Gang
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.10.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive control; Control systems design; Controllers; Convergence; Cooperative control; Discrete time systems; Disturbances; Eigenvalues and eigenfunctions; Linear systems; Model reference adaptive control; Multi-agent systems; Multiagent systems; multiagent systems (MASs); Observers; Robust control; Tracking control; Tracking errors; Tracking problem; Transfer functions; Uncertainty
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2022.3179467

This article studies the tracking problem of a class of heterogeneous linear minimum-phase discrete-time multiagent systems (MASs) with unknown agent parameters in the presence of bounded disturbances. By introducing a distributed adaptive observer and a reference model, a novel framework is proposed to convert the complicated cooperative tracking problem of unknown heterogeneous MASs into a cooperative tracking problem of the reference models to the leader and a local robust model reference adaptive control problem. It is shown that under the adaptive controller designed based on the proposed framework, the tracking errors between the outputs of all the agents and the output of the leader converge to a residual set. It is also shown that the tracking errors will converge to zero asymptotically when the disturbances are absent. Compared with the existing related works, our main contribution is that the proposed framework could deal with the unknown MASs with arbitrary individual relative degrees and do not rely on any global graph information. Finally, the effectiveness of the proposed controller is illustrated by an example.