A Design Method of Simple Adaptive Control System for Disctrete-time Multi-agent Systems with Heterogeneous Dynamics

In this paper, we study the design of a simple adaptive control system for the leader-following problem of discrete-time SISO multi-agent systems with uncertain heterogeneous dynamics. The multi-agent systems are assumed to have directly designable agent, called a leader, and non-leader agents, called followers. Each follower is given a reference model with the same dynamics as the leader and a parallel feedforward compensator (PFC) to ensure that the system has ASPR. The control system is designed so that the output of the augmented system of the follower with PFC follows the output of the leader, and the tracking error is guaranteed to be bounded by using Lyapunov functions. We also present the numerical simulation to demonstrate the effectiveness of the proposed method.