A distributed adaptive architecture with the nonlinear reference model for safe finite-time control of uncertain multiagent systems. Issue 4 (12th March 2023)

• Record Type: Journal Article
• Authors: Deniz, Meryem; Dogan, K. Merve; Yucelen, Tansel
• Is Part Of: International journal of systems science. Volume 54:Issue 4(2023)
• Page Start: 822
• Page End: 834
• Publication Date: 2023-03-12
• Subjects: Finite-time control -- multiagent systems -- distributed control -- adaptive control; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2022.2146988
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: We propose a new distributed adaptive control architecture for finite-time control of uncertain nonlinear multiagent systems. The proposed architecture employs three key components for each agent; a nonlinear reference model, a weight update rule, and an adaptive control signal. Predicated on agent-wise reference model state exchange, an ideal finite-time behaviour of overall multiagent system is captured by nonlinear reference models. The weight update rule of each agent, which is driven by a local error signal between the actual uncertain state of an agent and its reference model state, then adjusts agent-wise controller parameters in real-time to drive the local error signals of each agent to zero in finite-time. That is, not only the states of agents converge to their nonlinear reference model states in finite-time, but also the latter states converge to the given ideal behaviour in finite-time. Considering safety, the distinct feature of our architecture is that it does not rely on agent-wise actual state exchange between agents, which involves the effect of system uncertainties. This implies that when a subset of agents exhibits, for example, Byzantine behaviour, then their behaviour do not affect the rest of multiagent system from functioning.