有向图上不确定性参数系统的有限时间辨识与自适应一致性控制

The paper addresses an integrated parameter identification and consensus control problem of a class of uncertain multi-agent systems over directed graphs. Based on the existing model reference adaptive consensus (MRACon) framework and by leveraging dynamic regressor extension and mixing (DREM) techniques, two improved MRACon protocols are established, namely fixed-coupling DREM-MRACon and adaptive-coupling DREM-MRACon. The latter protocol contains time-varying coupling gains along a directed spanning tree. As compared to the baseline MRACon, both of the proposed protocols ensure finite-time identification of the system＇s unknown parameters. Additionally, fixed-coupling DREM-MRACon achieves exponential consensus of the agents, while adaptive-coupling DREM-MRACon overcomes the requirement of global information on the network topology. Finally, numerical simulations are conducted to verify the effectiveness of the theoretical results.