Study of adaptive coordinated control of multi-agent systems

The article proposes an adaptive robust boundary cooperative control framework for multi-agent systems. To address the cooperative control challenge in large-scale systems, discrete tracking errors are first mapped into a partial differential equation error field, enabling the generation of boundary control signals via the PDE backstepping method. On this basis, a distributed adaptive robust control law is synthesized, integrating an adaptation mechanism with a projection operator for real-time estimation and compensation of lumped disturbances. By constructing a composite Lyapunov functional, the input-to-state stability of the closed-loop system is rigorously proven, guaranteeing that tracking errors remain ultimately uniformly bounded and converge to a tunable small neighborhood. Simulation results verify the performance advantages of the proposed framework in terms of rapid tracking and robust disturbance rejection.

Authors: W. Xu, H. S. G. Almltashi

Direction: Informatics, Computer Technologies And Control

Keywords: multi agent systems, partial differential equations, backstepping method, adaptive robust control, input-to-state stability

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