Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems                         *

Shan Li; Hongbin Ma; Xin Wang; Zhuang Li

doi:10.1109/WRC-SARA.2018.8584209

Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems ^*

Shan Li, Hongbin Ma^*, Xin Wang, Zhuang Li

^*Corresponding author for this work

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

This paper investigates the challenging and significant problem of semi-parametric decentralised adaptive control in discrete-Time nonlinear multi-Agent systems, where parametric uncertainties and non-parametric uncertainties coexist. To deal with these two kinds of uncertainties, we introduce an auxiliary state to compensate non-parametric uncertainties. Then, we utilize a novel deadzone with threshold converging to zero to guarantee the boundedness of the estimated values of unknown parameters. Based on the certainty equivalence principle, semi-parametric decentralised adaptive controllers are designed to make sure that all agents track the reference state, and the closed-loop system achieves consensus tracking under the condition of strong couplings. Finally, the effectiveness of designed controllers is revealed through numerical simulation.

Original language	English
Title of host publication	2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	178-183
Number of pages	6
ISBN (Electronic)	9781538676745
DOIs	https://doi.org/10.1109/WRC-SARA.2018.8584209
Publication status	Published - 19 Dec 2018
Event	1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Beijing, China Duration: 16 Aug 2018 → …

Publication series

Name	2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding

Conference

Conference	1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018
Country/Territory	China
City	Beijing
Period	16/08/18 → …

Access to Document

10.1109/WRC-SARA.2018.8584209

Cite this

Li, S., Ma, H., Wang, X., & Li, Z. (2018). Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems ^* In 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding (pp. 178-183). Article 8584209 (2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WRC-SARA.2018.8584209

Li, Shan ; Ma, Hongbin ; Wang, Xin et al. / Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems ^* 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 178-183 (2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding).

@inproceedings{77ca82fffa7047438aaa7c2b5f44b867,

title = " Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems * ",

abstract = "This paper investigates the challenging and significant problem of semi-parametric decentralised adaptive control in discrete-Time nonlinear multi-Agent systems, where parametric uncertainties and non-parametric uncertainties coexist. To deal with these two kinds of uncertainties, we introduce an auxiliary state to compensate non-parametric uncertainties. Then, we utilize a novel deadzone with threshold converging to zero to guarantee the boundedness of the estimated values of unknown parameters. Based on the certainty equivalence principle, semi-parametric decentralised adaptive controllers are designed to make sure that all agents track the reference state, and the closed-loop system achieves consensus tracking under the condition of strong couplings. Finally, the effectiveness of designed controllers is revealed through numerical simulation.",

author = "Shan Li and Hongbin Ma and Xin Wang and Zhuang Li",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 ; Conference date: 16-08-2018",

year = "2018",

month = dec,

day = "19",

doi = "10.1109/WRC-SARA.2018.8584209",

language = "English",

series = "2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "178--183",

booktitle = "2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding",

address = "United States",

}

Li, S, Ma, H, Wang, X & Li, Z 2018, Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems ^* in 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding., 8584209, 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding, Institute of Electrical and Electronics Engineers Inc., pp. 178-183, 1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018, Beijing, China, 16/08/18. https://doi.org/10.1109/WRC-SARA.2018.8584209

Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems ^* . / Li, Shan; Ma, Hongbin; Wang, Xin et al.
2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding. Institute of Electrical and Electronics Engineers Inc., 2018. p. 178-183 8584209 (2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems *

AU - Li, Shan

AU - Ma, Hongbin

AU - Wang, Xin

AU - Li, Zhuang

PY - 2018/12/19

Y1 - 2018/12/19

N2 - This paper investigates the challenging and significant problem of semi-parametric decentralised adaptive control in discrete-Time nonlinear multi-Agent systems, where parametric uncertainties and non-parametric uncertainties coexist. To deal with these two kinds of uncertainties, we introduce an auxiliary state to compensate non-parametric uncertainties. Then, we utilize a novel deadzone with threshold converging to zero to guarantee the boundedness of the estimated values of unknown parameters. Based on the certainty equivalence principle, semi-parametric decentralised adaptive controllers are designed to make sure that all agents track the reference state, and the closed-loop system achieves consensus tracking under the condition of strong couplings. Finally, the effectiveness of designed controllers is revealed through numerical simulation.

AB - This paper investigates the challenging and significant problem of semi-parametric decentralised adaptive control in discrete-Time nonlinear multi-Agent systems, where parametric uncertainties and non-parametric uncertainties coexist. To deal with these two kinds of uncertainties, we introduce an auxiliary state to compensate non-parametric uncertainties. Then, we utilize a novel deadzone with threshold converging to zero to guarantee the boundedness of the estimated values of unknown parameters. Based on the certainty equivalence principle, semi-parametric decentralised adaptive controllers are designed to make sure that all agents track the reference state, and the closed-loop system achieves consensus tracking under the condition of strong couplings. Finally, the effectiveness of designed controllers is revealed through numerical simulation.

UR - http://www.scopus.com/inward/record.url?scp=85060820333&partnerID=8YFLogxK

U2 - 10.1109/WRC-SARA.2018.8584209

DO - 10.1109/WRC-SARA.2018.8584209

M3 - Conference contribution

AN - SCOPUS:85060820333

T3 - 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding

SP - 178

EP - 183

BT - 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018

Y2 - 16 August 2018

ER -

Li S, Ma H, Wang X, Li Z. Semi-parametric Decentralised Adaptive Control of Discrete-Time Nonlinear Multi-Agent Systems ^* In 2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding. Institute of Electrical and Electronics Engineers Inc. 2018. p. 178-183. 8584209. (2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding). doi: 10.1109/WRC-SARA.2018.8584209