PdE-based model reference adaptive control of uncertain heterogeneous multiagent networks |
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Authors: | Jun Kim Kyoung-Dae Kim Vivek Natarajan Scott David Kelly Joseph Bentsman |
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Institution: | aDepartment of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, 1206 West Green Street, Urbana, IL 61801-2906, United States;bDepartment of Mechanical Engineering and Engineering Science, The University of North Carolina at Charlotte, 9201 University City Blvd., Charlotte, NC 28223-0001, United States |
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Abstract: | Robust globally stable model reference adaptive control (MRAC) laws recently derived for systems described by parabolic and hyperbolic partial differential equations (PDEs) with spatially-varying coefficients under distributed sensing and actuation are extended to heterogeneous multiagent networks characterized by parameter uncertainty. The extension is carried out using partial difference equations (PdEs) on graphs that preserve parabolic- and hyperbolic-like cumulative network behavior. Unlike in the PDE case, only boundary input is specified for the reference model. The algorithms proposed directly incorporate this boundary reference input into the reference PdE to generate the distributed admissible reference evolution profile followed by the agents. The agent evolution thus depends only on the interaction with the adjacent agents, making the system fully decentralized. Numerical examples are presented as well, including the case of the switched topology associated with a sudden loss of an agent. The resulting PdE MRAC laws inherit the robust linear structure of their PDE counterparts. |
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Keywords: | Model reference adaptive control Decentralized control Multiagent networks Partial difference equations on graphs Parameter uncertainty |
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