Adaptive Tracking Control for Heterogeneous Multi-Agent Systems With Unknown Exosystem and Disturbances
- Resource Type
- Conference
- Authors
- Wang, Yufan; Huo, Shicheng; Liu, Guobao
- Source
- 2023 38th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Chinese Association of Automation (YAC), 2023 38th Youth Academic Annual Conference of. :171-176 Aug, 2023
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Transportation
Adaptation models
Protocols
Automation
Observers
Control systems
Multi-agent systems
Convergence
Heterogeneous multi-agent systems
distributed model-free observer
tracking control
anti-disturbance control
- Language
- ISSN
- 2837-8601
This paper investigates the tracking control problem for heterogeneous multi-agent systems with an unknown exosystem and the external bounded disturbances. A distributed model-free adaptive observer is proposed to estimate state and dynamics of the unknown exosystem. The control input of each follower is contaminated by the unknown time-varying disturbance which damage the tracking performance. Then an adaptive anti-disturbance compensator is proposed to neutralize the negative influence of the external disturbance. In the light of the proposed distributed model-free adaptive observer and adaptive anti-disturbance compensator, an adaptive anti-disturbance tracking control protocol is designed to guarantee that the output of each follower can track the exosystem. A simulation example is provided to demonstrate the availability of the presented control scheme.