TY - GEN
T1 - WLS-based partially decentralized adaptive control for coupled ARMAX multi-agent dynamical system
AU - Ma, Hongbin
AU - Ge, S. S.
AU - Lum, Kai Yew
PY - 2009
Y1 - 2009
N2 - In this paper, partially decentralized adaptive control for a multi-agent dynamic system is studied. There are many agents in the system, and each agent's state evolves like an ARMAX model with unknown parameters while being intervened by its neighborhood agents, in form of unknown linear interactions. Each agent adopts recursive WLS (weighted least-square) algorithm to estimate its local unknown parameters and designs its local adaptive controller by "certainty equivalence" principle. Generally speaking, it is a question whether such local adaptive controllers can guarantee stability of whole system. In this paper, we not only give the affirmative answer to this question, but also rigorously prove the optimality of decentralized WLS adaptive controller.
AB - In this paper, partially decentralized adaptive control for a multi-agent dynamic system is studied. There are many agents in the system, and each agent's state evolves like an ARMAX model with unknown parameters while being intervened by its neighborhood agents, in form of unknown linear interactions. Each agent adopts recursive WLS (weighted least-square) algorithm to estimate its local unknown parameters and designs its local adaptive controller by "certainty equivalence" principle. Generally speaking, it is a question whether such local adaptive controllers can guarantee stability of whole system. In this paper, we not only give the affirmative answer to this question, but also rigorously prove the optimality of decentralized WLS adaptive controller.
KW - Coupled ARMAX model
KW - Decentralized adaptive control
KW - Multi-agent dynamic system
KW - Weighted leastsquare algorithm
UR - https://www.scopus.com/pages/publications/70449635481
U2 - 10.1109/ACC.2009.5160234
DO - 10.1109/ACC.2009.5160234
M3 - Conference contribution
AN - SCOPUS:70449635481
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 3543
EP - 3548
BT - 2009 American Control Conference, ACC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -