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.
Bibtex entry:
@article{YueBal:24-001,