Distributed Asymptotic Consensus Control of Linearly Parameterized Multiagent Systems With Unknown Control Gain
作者单位：The State Key Laboratory of Industrial Control Technologyand the College of Control Science and EngineeringZhejiang University Department of ElectronicsCarleton University College of Science and TechnologyNingbo University
会议名称：《第36届中国控制会议》
会议日期：2017年
学科分类：08[工学] 0802[工学-机械工程] 0835[工学-软件工程] 080201[工学-机械制造及其自动化]
基 金：supported by the Open Research Project of the State Key Laboratory of Industrial Control Technology Zhejiang University China(No.ICT170296)
关 键 词：adaptive control consensus distributed control linearly parameterized uncertainty
摘 要：A class of inearly parameterized multiagent systems with unknown parameters and unknown control gain are investigated in this *** adaptive algorithm is implemented for such multiagent systems to obtain *** most previous cases,consensus approaches usually induce uniformly ultimately bounded consensus error because of the uncertainties existing in the system *** contrast,this paper introduces a novel robust consensus algorithm which can ensure that the consensus error converges to zero *** specifically,an adaptive controller will be designed for on-line unknown parameter identification,and a robust continuous term will be applied to ease the effects of the external ***,the control signal is insured continuously to neglect actuator bandwidth requirement and avoid the caused chattering *** that,for multiagent systems studied in this paper,each agent only needs to exchange information with its neighbor agents,i.e.,the proposed consensus algorithm is *** theoretical verification of asymptotic consensus result is given through Lyapunov synthesis and several simulation tests on a linearly parameterized multiagent system are conducted to demonstrate the performance of the algorithm.