Discrete-Time Adaptive Control Algorithm for Coordination of Multiagent Systems in the Presence of Coupled Dynamics

Discrete-time architectures have an advantage over their continuous counterparts as they can be directly executed on embedded hardware without the need for dis-cretization, and discretization can result in a loss of stability margin. This paper presents a discrete-time adaptive control architecture...

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Veröffentlicht in:Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems S. 5366 - 5371
Hauptverfasser: Aly, Islam A., Dogan, K. Merve
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.10.2023
Schlagworte:
Adaptive control
Asymptotic stability
Hardware
Heuristic algorithms
Laplace equations
Numerical stability
Observers
ISSN:2153-0866
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Zusammenfassung:Discrete-time architectures have an advantage over their continuous counterparts as they can be directly executed on embedded hardware without the need for dis-cretization, and discretization can result in a loss of stability margin. This paper presents a discrete-time adaptive control architecture for uncertain scalar multi agent systems with coupled dynamics. Our strategy includes observer dynamics to handle the unmeasurable coupled dynamics and a user-assigned Laplacian matrix for coordination of the multiagent system. An illustrative example is presented to show the efficacy of the proposed control architectures.
ISSN:2153-0866
DOI:10.1109/IROS55552.2023.10341404