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Cooperative tracking problem of unknown discrete-time MIMO multi-agent systems with switching topologies

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Abstract

This paper is concerned with the cooperative output tracking problem of a class of unknown heterogeneous discrete-time multi-input multi-output (MI-MO) linear multi-agent systems (MASs) under switching topologies. A novel design framework is developed based on a distributed observer and a distributed multivariable adaptive control approach. First, a distributed observer is constructed to estimate the leader’s states by using the neighboring relative information under the influences of switching topologies. Then, to handle the unknown parameters of MIMO systems, a distributed multivariable model reference adaptive control approach is designed to follow the estimation states of the leader. It is shown that under the proposed design framework, the boundedness of all signals and variables in the closed-loop system is guaranteed, and the output tracking of the MASs is achieved. Moreover, the proposed design framework does not need the knowledge of global graph information. Finally, an example is provided to illustrate the effectiveness of the proposed approach.

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This paper is a theoretical study, and no data were used to support this study.

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Funding

This study was funded by the Fundamental Research Funds for the Central Universities (Grant number D5000210690, D5000210953), Young Talent Promotion Program of Shaanxi Association for Science and Technology (Grant number 20220121), Natural Science Basic Research Program of Shaanxi (Grant number 2022JQ-580, 2020JM-633), the State Key Laboratory of Intelligent Control and Decision of Complex Systems, and Natural Science Foundation of China (Grant number 61973046, 61803311).

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Authors and Affiliations

  1. School of Electronics and Information, Northwestern Polytechnical University, Xi’an, China

    Ruohan Yang & Deyun Zhou

  2. School of Astronautics, Northwestern Polytechnical University, Xi’an, China

    Yue Li

  3. Rocket Force University of Engineering, Xi’an, China

    Zhichao Feng

Authors
  1. Ruohan Yang
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  2. Yue Li
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  3. Deyun Zhou
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  4. Zhichao Feng
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Correspondence to Ruohan Yang.

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Yang, R., Li, Y., Zhou, D. et al. Cooperative tracking problem of unknown discrete-time MIMO multi-agent systems with switching topologies. Nonlinear Dyn 110, 2501–2516 (2022). https://doi.org/10.1007/s11071-022-07760-5

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  • DOI: https://doi.org/10.1007/s11071-022-07760-5

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