TY - GEN
T1 - Stable Distributed Adaptive Systems for Control of Linear Multiagent Systems in the Presence of Heterogeneous Actuator Dynamics and Unknown Parameters
AU - Dogan, K. Merve
AU - Gruenwald, Benjamin C.
AU - Yucelen, Tansel
AU - Muse, Jonathan A.
AU - Butcher, Eric A.
N1 - Funding Information:
This research was supported by the Dynamics, Control, and Systems Diagnostics Program of the National Science Foundation under Grants CMMI–1561836 and CMMI–1657637.
Funding Information:
This research was supported by the Dynamics, Control, and Systems Diagnostics Program of the National Science Foundation under Grants CMMI-1561836 and CMMI-1657637.
Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - One of the fundamental problems in control design for multiagent systems is the ability of the controlled system to guarantee stability and performance with respect to often nonidentical (e.g., slow and fast) agent actuation capabilities and unknown parameters in agent dynamics resulting from the lack of excessive modeling efforts for such low-cost platforms. Motivated from this standpoint, this paper addresses control synthesis and stability verification for linear time-invariant multiagent systems with heterogeneous actuator dynamics and system uncertainties. We propose a distributed adaptive control architecture in a leader-follower setting for this class of multi-agent systems based on a hedging method, where this method provides correct adaptation when a stability condition based on linear matrix inequalities holds. This condition also reveals the fundamental tradeoff between heterogeneous agent actuation capabilities and unknown parameters in agent dynamics.
AB - One of the fundamental problems in control design for multiagent systems is the ability of the controlled system to guarantee stability and performance with respect to often nonidentical (e.g., slow and fast) agent actuation capabilities and unknown parameters in agent dynamics resulting from the lack of excessive modeling efforts for such low-cost platforms. Motivated from this standpoint, this paper addresses control synthesis and stability verification for linear time-invariant multiagent systems with heterogeneous actuator dynamics and system uncertainties. We propose a distributed adaptive control architecture in a leader-follower setting for this class of multi-agent systems based on a hedging method, where this method provides correct adaptation when a stability condition based on linear matrix inequalities holds. This condition also reveals the fundamental tradeoff between heterogeneous agent actuation capabilities and unknown parameters in agent dynamics.
UR - http://www.scopus.com/inward/record.url?scp=85052602889&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052602889&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8431705
DO - 10.23919/ACC.2018.8431705
M3 - Conference contribution
AN - SCOPUS:85052602889
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 460
EP - 465
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Annual American Control Conference, ACC 2018
Y2 - 27 June 2018 through 29 June 2018
ER -