DISTRIBUTED OUTPUT FEEDBACK INDIRECT MRAC OF CONTINUOUS-TIME MULTIAGENT LINEAR SYSTEMS

This paper studies the distributed leader-follower output consensus problem for continuous-time uncertain multiagent linear systems with general input-output forms. Specifically, we extend the well-known output feedback indirect model reference adaptive control (MRAC) and develop a fully distributed output feedback indirect MRAC scheme to achieve closed-loop stability and asymptotic leader-follower output consensus. Compared with the existing results, the proposed distributed MRAC scheme has the following characteristics. First, the orders of each agent's pole/zero polynomials, including the followers and the leader, can differ from others, and the parameters in each follower's pole/zero polynomials are unknown. Second, the proposed adaptive control law of each follower solely relies on the local input and output information without requiring the state observer and the structural matching condition on the followers' dynamics, commonly used in the literature. Third, for any given leader with a relative degree n^*, the leader-follower output tracking error and its derivatives up to the n^*th order converge to zero asymptotically, which has never been reported in the literature. Finally, a simulation example verifies the validity of the proposed distributed MRAC scheme.