TY - GEN
T1 - Decentralized adaptive control of a class of discrete-time nonlinear hidden-leader follower multi-agent systems
AU - Zhang, Xinghong
AU - Ma, Hongbin
AU - Wang, Jiannan
N1 - Publisher Copyright:
© 2017 Technical Committee on Control Theory, CAA.
PY - 2017/9/7
Y1 - 2017/9/7
N2 - In this paper, decentralized adaptive control is investigated for a class of discrete-time nonlinear hidden leader-follower multi-agent systems. Different from the conventional leader-follower multi-agent system, among all the agents, there exists a hidden leader that knows the desired reference trajectory, while the follower agents know neither the desired reference signal nor who is a leader. The dynamics of each agent is described by the nonlinear discrete-time auto-regressive model with unknown parameters, and each agent is intrinsically nonlinearly coupled with its neighbors through history information. In order to deal with the uncertainties and nonlinearity, a projection algorithm is applied to identify parameters. Based on the certainty equivalence principle in adaptive control theory, the control law for the hidden leader agent is designed to track the desired reference signal, and the local control law for each follower agent is designed using neighborhood history information. Under the decentralized adaptive control, the hidden leader agent is shown to track the desired reference signal successfully, all the follower agents follow the hidden leader agent, and the closed-loop system eventually achieves strong synchronization under uncertain strong couplings. In the end, the simulation results show the validity of the proposed scheme of decentralized adaptive control.
AB - In this paper, decentralized adaptive control is investigated for a class of discrete-time nonlinear hidden leader-follower multi-agent systems. Different from the conventional leader-follower multi-agent system, among all the agents, there exists a hidden leader that knows the desired reference trajectory, while the follower agents know neither the desired reference signal nor who is a leader. The dynamics of each agent is described by the nonlinear discrete-time auto-regressive model with unknown parameters, and each agent is intrinsically nonlinearly coupled with its neighbors through history information. In order to deal with the uncertainties and nonlinearity, a projection algorithm is applied to identify parameters. Based on the certainty equivalence principle in adaptive control theory, the control law for the hidden leader agent is designed to track the desired reference signal, and the local control law for each follower agent is designed using neighborhood history information. Under the decentralized adaptive control, the hidden leader agent is shown to track the desired reference signal successfully, all the follower agents follow the hidden leader agent, and the closed-loop system eventually achieves strong synchronization under uncertain strong couplings. In the end, the simulation results show the validity of the proposed scheme of decentralized adaptive control.
KW - Decentralized Adaptive Control
KW - Discrete-time System
KW - Hidden Leader
KW - Nonlinear Multi-agent System
KW - System Identification
UR - http://www.scopus.com/inward/record.url?scp=85032171371&partnerID=8YFLogxK
U2 - 10.23919/ChiCC.2017.8027916
DO - 10.23919/ChiCC.2017.8027916
M3 - Conference contribution
AN - SCOPUS:85032171371
T3 - Chinese Control Conference, CCC
SP - 3593
EP - 3598
BT - Proceedings of the 36th Chinese Control Conference, CCC 2017
A2 - Liu, Tao
A2 - Zhao, Qianchuan
PB - IEEE Computer Society
T2 - 36th Chinese Control Conference, CCC 2017
Y2 - 26 July 2017 through 28 July 2017
ER -