Two-time-scale adaptive internal model designs for motion coordination. (November 2016)

• Record Type: Journal Article
• Authors: Bai, He
• Is Part Of: Automatica. Volume 73(2016)
• Page Start: 289
• Page End: 295
• Publication Date: 2016-11
• Subjects: Internal model -- Two-time-scale -- Averaging -- Passivity -- Consensus -- Multi-agent systems; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2016.06.029
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: We study a motion coordination problem where a group of agents is required to reach consensus while tracking a leader's sinusoidal reference velocity. We assume that the frequency of the reference velocity is available only to the leader. Building on a passivity-based control, we develop decentralized two-time-scale adaptive internal model control algorithms that estimate the unknown frequency information and achieve consensus of the group. We establish exponential stability of the algorithms using two-time-scale averaging theory. Simulation results with first order and second order agent dynamics illustrate the effectiveness of the proposed controls.