10 research outputs found
Adaptive Consensus and Parameter Estimation of Multi-Agent Systems with An Uncertain Leader
In this note, the problem of simultaneous leader-following consensus and
parameter estimation is studied for a class of multi-agent systems subject to
an uncertain leader system. The leader system is described by a sum of
sinusoids with unknown amplitudes, frequencies and phases. A distributed
adaptive observer is established for each agent to estimate the unknown
frequencies of the leader. It is shown that if the signal of the leader is
sufficiently rich, the estimation errors of the unknown frequencies converge to
zero asymptotically for all the agents. Based on the designed distributed
adaptive observer, a distributed adaptive control law is synthesized for each
agent to solve the leader-following consensus problem.Comment: 8 pag
Periodic event-triggered output regulation for linear multi-agent systems
This study considers the problem of periodic event-triggered (PET)
cooperative output regulation for a class of linear multi-agent systems. The
advantage of the PET output regulation is that the data transmission and
triggered condition are only needed to be monitored at discrete sampling
instants. It is assumed that only a small number of agents can have access to
the system matrix and states of the leader. Meanwhile, the PET mechanism is
considered not only in the communication between various agents, but also in
the sensor-to-controller and controller-to-actuator transmission channels for
each agent. The above problem set-up will bring some challenges to the
controller design and stability analysis. Based on a novel PET distributed
observer, a PET dynamic output feedback control method is developed for each
follower. Compared with the existing works, our method can naturally exclude
the Zeno behavior, and the inter-event time becomes multiples of the sampling
period. Furthermore, for every follower, the minimum inter-event time can be
determined \textit{a prior}, and computed directly without the knowledge of the
leader information. An example is given to verify and illustrate the
effectiveness of the new design scheme.Comment: 17 pages, 13 figures, submitted to Automatica. accepte