Distributed adaptive consensus and output tracking of unknown linear systems on directed graphs

• Zhongkui Li ^[1] ; Zhengtao Ding ^[2]
  1. [1] Peking University

     Peking University

     China

     
  2. [2] University of Manchester

     University of Manchester

     Reino Unido

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 55, 2015, págs. 12-18
• Idioma: inglés
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• Resumen

  • This paper considers both the distributed consensus control and output tracking problems of a group of unknown linear subsystems using the relative output information of neighboring subsystems. Each system is a minimum-phase SISO system with relative degree one and unknown parameters, and the interaction graph among the subsystems is directed. For the case where the directed graph is strongly connected, a distributed adaptive protocol is designed to achieve consensus. For the case where there exists an arbitrary constant reference signal, a distributed adaptive controller together with an internal model are presented to achieve output tracking in the sense that the subsystem outputs asymptotically follow a reference constant. The proposed adaptive protocols are independent of the parameters of the subsystems, only use the relative outputs of neighboring subsystems, and hence are fully distributed.