Tahoun A H, Arafa M
Department of Computer and Control Engineering, Faculty of Engineering, Tanta University, Tanta, Egypt; Department of Computer Science, Faculty of Computer Science and Information Technology, Albaha University, Albaha, Saudi Arabia.
Department of Computer and Control Engineering, Faculty of Engineering, Tanta University, Tanta, Egypt.
ISA Trans. 2022 Dec;131:61-72. doi: 10.1016/j.isatra.2022.04.034. Epub 2022 Apr 29.
With unknown leader parameters and false or immeasurable tracking paths, the leader-follower tracking problem via adaptive control becomes more complex and challenging. Different from the existing work in the literature and in line with real-world applications, this challenging issue is solved in this paper for multi-agent networks with different kinds of unknown uncertainties in the followers such as partially known parameters, nonlinearities, external disturbances, communication weights, and sensor faults. The solution of this challenging issue is obtained in three steps. Firstly, the tracking path is estimated by designing distributed adaptive observers at all agents that have direct communication edges with the leader. Next, by designing local adaptive observers for all followers, the estimates of all followers' states can be obtained. Then, distributed adaptive controllers for all followers are designed using the estimated states of both followers and their neighbors in addition to the estimated tracking path. The tracking performances are provided via sufficient conditions for both the adaptive observers and the adaptive controllers. The proposed methods are evaluated through two examples that are commonly used in the literature. The obtained results prove the efficacy of the recommended adaptive approaches.
在领导者参数未知且跟踪路径虚假或不可测量的情况下，通过自适应控制实现的领导者-跟随者跟踪问题变得更加复杂且具有挑战性。与文献中的现有工作不同且符合实际应用，本文针对具有不同类型未知不确定性的多智能体网络解决了这一具有挑战性的问题，这些不确定性存在于跟随者中，例如部分已知参数、非线性、外部干扰、通信权重和传感器故障。这个具有挑战性问题的解决方案分三步获得。首先，通过在与领导者有直接通信边的所有智能体处设计分布式自适应观测器来估计跟踪路径。其次，通过为所有跟随者设计局部自适应观测器，可以获得所有跟随者状态的估计值。然后，除了估计的跟踪路径外，利用跟随者及其邻居的估计状态为所有跟随者设计分布式自适应控制器。通过为自适应观测器和自适应控制器提供充分条件来给出跟踪性能。通过文献中常用的两个例子对所提出的方法进行了评估。获得的结果证明了所推荐的自适应方法的有效性。
