In this paper, a distributed adaptive control method is considered for a class of discrete-time multi-agent systems with nonlinearity and uncertainty. Each agent is affected by its neighbors, and there is a hidden age...
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In this paper, a distributed adaptive control method is considered for a class of discrete-time multi-agent systems with nonlinearity and uncertainty. Each agent is affected by its neighbors, and there is a hidden agent as the leader in multi-agent systems who knows the desired reference signal. However, other agents are aware of neither the reference signal nor the existence of the hidden leader and leadership. In order to deal with uncertainty, a criteria function for each agent, which is consist of a weighted square combination of state errors and parameter errors with timevarying weighting factor, is adopted. By minimizing the criteria function, we propose a projection algorithm for each agent to estimate unknown parameters. Furthermore, we design a distributed adaptive controller for each agent using the information of its neighbors. Under the distributed adaptive control, the rigorous mathematical proof is presented to demonstrate that all the agents ultimately track the desired reference signal. Finally, simulation results are given to illustrate the theoretical results.
We have already proposed high order tuner (HOT) which uses a smooth projection algorithm to ensure the positive definiteness of an estimated inertia matrix for realizing a stability and a good transient response of ad...
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ISBN:
(纸本)9781467322591
We have already proposed high order tuner (HOT) which uses a smooth projection algorithm to ensure the positive definiteness of an estimated inertia matrix for realizing a stability and a good transient response of adaptive tracking control system based on [7] for a rigid link robot arm. Also, we proposed a HOT capable to constrain adjustable parameters into hyper-parallelogram region [8, 9]. In this paper, an adaptive control scheme for a 2 DOF flexible link robot arm is proposed. The controller is composed of an adaptation law using smooth projection algorithm [8, 9] and a control law based on dynamic certainty equivalent principle [7, 14]. The effectiveness of the proposed scheme is illustrated by a theoretical analysis and simple numerical simulation results.
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