Model reference adaptive stabilizing control with application to leaderless consensus


Reference:
D. Yue, S. Baldi, J. Cao, and B. De Schutter, "Model reference adaptive stabilizing control with application to leaderless consensus," IEEE Transactions on Automatic Control, vol. 69, no. 3, pp. 2052-2059, Mar. 2024.

Abstract:
This paper describes an extension of the well-known model reference adaptive control (MRAC) approach. The extension relies on explicitly involving the tracking error in the feedback control law: it is shown that including this term along with its appropriate extra adaptive gain allows to handle possibly unstable reference dynamics. Due to its stabilizing nature, the proposed framework is referred to as model reference adaptive stabilizing control (MRASC). Such an extension turns out to be particularly useful in leaderless consensus of heterogeneous uncertain agents, since the literature has discussed that leaderless adaptation may not avoid unstable closed-loop dynamics. In such consensus setting, the framework, referred to as model reference adaptive stabilizing consensus (MRASCon), generalizes existing MRAC-based consensus schemes and can achieve consensus when state-of-the-art MRAC-based schemes may fail.


Downloads:

Bibtex entry:

@article{YueBal:24-001,
        author={D. Yue and S. Baldi and J. Cao and B. {D}e Schutter},
        title={Model reference adaptive stabilizing control with application to leaderless consensus},
        journal={IEEE Transactions on Automatic Control},
        volume={69},
        number={3},
        pages={2052--2059},
        month=mar,
        year={2024},
        doi={10.1109/TAC.2023.3313642}
        }



Go to the publications overview page.


This page is maintained by Bart De Schutter. Last update: September 29, 2024.