Decentralized adaptive control of a class of discrete-time multi-agent systems for hidden leader following problem

Authors:
Shuzhi Sam Ge;Chenguang Yang;Yanan Li;Tong Heng Lee
Affiliations:
Social Robotics Lab, Interactive Digital Media Institute and Dept. of Electrical and Computer Eng., National Univ. of Singapore, Singapore and Institute of Intelligent Systems, Univ. of Electronic ...;Social Robotics Lab, Interactive Digital Media Institute and Department of Electrical and Computer Engineering, National University of Singapore, Singapore;Social Robotics Lab, Interactive Digital Media Institute and Department of Electrical and Computer Engineering, National University of Singapore, Singapore;Social Robotics Lab, Interactive Digital Media Institute and Department of Electrical and Computer Engineering, National University of Singapore, Singapore
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 0

Brief paper: Distributed discrete-time coordinated tracking with a time-varying reference state and limited communication

Automatica (Journal of IFAC)
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Abstract

In this paper, adaptive control is investigated for a class of discrete-time nonlinear multi-agent systems (MAS). Each agent is of uncertain dynamics and is affected by other agents in its neighborhood. An agent is able to sense the outputs of the agents inside its neighborhood but is unable to sense those outside its neighborhood. Among all the agents, there is a hidden leader, which knows the desired tracking trajectory, but it is affected by and can only affect those agents inside its neighborhood while all other agents are not aware of its leadership. The decentralized adaptive control is designed for each agent by using the information of its neighbors. Under the proposed decentralized adaptive controls, both rigid mathematical proof and simulation studies are provided to show that all the agents are guaranteed to reach their common goal, i.e., following the desired reference.