Cooperative Adaptive Control of Networked Multiple Dynamical Systems with Unknown Parameters and Its Application
DescriptionDistributed coordination of networked multiple dynamical systems has attracted much attention due to its broad application in many areas including formation control of unmanned aerial vehicles, rendezvous of multiple mobile robots, deployment of sensor networks, and so on. Networked multiple dynamical systems are often referred to as networked multi-agent systems. Compared with single systems, networked multi-agent systems have the benefits of robustness and scalability, which can tolerate failures of agents or called subsystems and allow addition of new agents or subsystems. In many real-world applications, the parameters of agent models might be unknown due to various reasons, for example, they might be difficult to obtain accurately or they might be slowly time-varying. This motivates researchers to investigate and develop cooperative adaptive control approaches to those networked multi-agent systems with unknown parameters. However, most of existing works on cooperative adaptive control focus on very simple networked multi-agent systems such as minimum phase multi-agent systems with uniform relative degrees subject to neither disturbances nor unmodeled dynamics, which may not be the case for many real-world applications. In fact, the recent literature review reveals that there are still many issues yet to be addressed on the topic of cooperative adaptive control of networked multi-agent systems with unknown parameters. The issues include (i) how to deal with cooperative adaptive control of more general networked heterogeneous multi-agent systems with unknown parameters; (ii) how to deal with cooperative robust adaptive control of networked heterogeneous multi-agent systems with unknown parameters subject to external disturbances and/or unmodeled dynamics; and (iii) how to deal with cooperative adaptive control of networked heterogeneous multi-agent systems with unknown parameters subject to various communication constraints such as time-delays and bandwidth limits which would naturally arise in networked environments and are known to have great adverse impact on the system performance. This project, by addressing those issues, will investigate and develop novel approaches and methodologies for cooperative adaptive control of networked heterogeneous multiple dynamical systems with unknown parameters subject to disturbances and/or unmodeled dynamics as well as communication constraints. The outcomes of this project are expected to be novel theories and methodologies for cooperative adaptive control of networked multiple dynamical systems with unknown parameters which would provide more solid design tools for engineers in real-world applications.
|Effective start/end date
|1/01/22 → …