论文标题
具有不确定领导者的多代理系统的自适应共识和参数估计
Adaptive Consensus and Parameter Estimation of Multi-Agent Systems with An Uncertain Leader
论文作者
论文摘要
在本说明中，研究了受不确定的领导者系统的一类多机构系统的同时领导者共识和参数估计的问题。引导系统由一组振幅，频率和相的正弦曲线总和来描述。为每个代理建立了分布式自适应观察者，以估计领导者的未知频率。结果表明，如果领导者的信号足够丰富，则未知频率的估计误差对于所有药物而言渐近渐近。基于设计的分布式自适应观察者，合成了分布式自适应控制定律，以解决领导者的共识问题。
In this note, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multi-agent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with unknown amplitudes, frequencies and phases. A distributed adaptive observer is established for each agent to estimate the unknown frequencies of the leader. It is shown that if the signal of the leader is sufficiently rich, the estimation errors of the unknown frequencies converge to zero asymptotically for all the agents. Based on the designed distributed adaptive observer, a distributed adaptive control law is synthesized for each agent to solve the leader-following consensus problem.
