Indirect adaptive synchronization for a heterogeneous multiagent network

Abstract

This article studies the problem of indirect adaptive state feedback control for a heterogeneous MIMO network with input and matched uncertainties. A mechanical network composed of two-wheeled robots is proposed to validate the developed methodology. Within the network, a reference system is defined, and each robot has wireless communication between them. Likewise, for control design, specific adaptive laws are adopted through matching conditions to approximate the dynamics of each agent, which are partially unknown and constructed. The inclusion of an optimal adaptive modification is considered for the suppression of input uncertainties. This methodology, along with the distributed adaptive control and identification, is validated with Lyapunov-based stability analysis. The presented control scheme guarantees that all closed-loop signals are bounded and ensures that synchronization errors converge asymptotically to zero. Finally, simulations oriented to the application problem mentioned are presented to validate the effectiveness of the control scheme.