Adaptive Tracking Control For Multi-agent Systems

Consensus,the fundamental problem of multi-agent systems coordination control,becomes a hot issue in control subjects,due to its broad applications in electric systems,sensor networks,unmanned air vehicle(UAV)formations,underwater vehicles,etc.The leader-follower tracking problems of second-order multi-agent systems are studied in this paper.Research idea of this article is to use an adaptive control method for real-time monitoring the consistency of the parameters of the consensus protocol,that is time-varying parameters are used to approach to the problems of the consensus.Under this idea,three aspects of content are studied.The main research content is as follows.(1)It is assumed that each follower can access the relative position and velocity information with its neighbors,the position and velocity information of the leader is only accessed by a subset of the followers,and the leader's non-zero reference input cannot be available by any follower.To track the active leader,a distributed adaptive consensus protocol is proposed for each follower in the case that the interaction rela-tionship among followers is undirected connected graph.And the sufficient conditions which guarantee the system to reach a leader-follower tracking are obtained.(2)Assume that any follower can not access the relative velocity information and only can access the relative position information with its neighbors.A dynamic output feedback control law is designed to estimate the relative velocity information.At the same time,an adaptive control law is designed to avoid the parameters of the consensus protocol depend on the Laplacian matrix eigenvalues.For the system under switch-ing network topologies which are undirected graphs,consensus protocol with relative position information is designed.(3)It is assumed that each follower cannot access its velocity information,in the case that the reference input of the leader is known by all the following agents.For the system under switching network topologies which are directed graphs,a distributed observer-based adaptive gain consensus protocol is proposed for each follower.