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Adaptive Tracking a Linear System with Unknown Periodic Signal in Multi-agent Systems

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Proceedings of 2017 Chinese Intelligent Systems Conference (CISC 2017)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 460))

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Abstract

This paper studies the tracking control problem of multi-agent systems where each agent has homogeneous sensor and heterogeneous dynamic system, the moving target has unknown periodic input signal and the unknown periodic input can be modelled as a finite dimensional Fourier decomposition. Since some agents can not detect the target, a distributed estimation based tracking control algorithm is applied. We first design a consensus based distributed observer to estimate the state and the unknown periodic input of the system from the available measurement outputs. Leader-follower consensus protocol is applied, and the stability condition of the estimation errors is given. Then, based on the estimations, a model reference adaptive control (MRAC) algorithm is adopted to design the tracking controller. It is proved that under the proposed distributed estimation based tracking control algorithm, each agent can asymptotically track the target. A numerical simulation is given to prove the feasibility of the algorithm in this paper.

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Acknowledgements

This work is supported by National Natural Science Foundation (NNSF) of China under Grant 61473081 and 61673106, Natural Science Foundation of Jiangsu Province under Grant BK20141341, the Fundamental Research Funds for the Central Universities under Grant 2242015R30013.

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Authors and Affiliations

  1. School of Automation, Southeast University, Nanjing, 210096, China

    Feifei Li & Ya Zhang

  2. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing, 210096, China

    Feifei Li & Ya Zhang

Authors
  1. Feifei Li
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  2. Ya Zhang
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Corresponding author

Correspondence to Ya Zhang .

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Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Li, F., Zhang, Y. (2018). Adaptive Tracking a Linear System with Unknown Periodic Signal in Multi-agent Systems. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 460. Springer, Singapore. https://doi.org/10.1007/978-981-10-6499-9_61

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  • DOI: https://doi.org/10.1007/978-981-10-6499-9_61

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6498-2

  • Online ISBN: 978-981-10-6499-9

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