Cooperative adaptive control of a two-agent system

Abstract

This article presents a new cooperative control framework using an ℒ₁ adaptive control for a two-agent dynamic system in the presence of uncertainties. Each agent has its own decentralised controller based on the extended dynamics which include its own local measurements, as well as any information available from the other agent. Each ℒ₁ adaptive control law is designed to achieve the local objective of the host agent, as well as handle both local and interconnected uncertainties from the other agent. The global objective is achieved when each agent achieves its own local objective. The stability condition for the global closed-loop system is derived, and simulation results illustrate the effectiveness of the presented cooperative control framework.

Keywords:

• cooperative control
• adaptive control
• two-agent system

Acknowledgements

This work was supported by the Air Force Summer Faculty Fellowship Program at the Air Force Research Laboratory Space Vehicles Directorate.