Print Email Facebook Twitter Model Reference Adaptive Stabilizing Control with Application to Leaderless Consensus Title Model Reference Adaptive Stabilizing Control with Application to Leaderless Consensus Author Yue, Dongdong (Southeast University) Baldi, S. (Southeast University) Cao, Jinde (Southeast University) De Schutter, B.H.K. (TU Delft Delft Center for Systems and Control) Department Delft Center for Systems and Control Date 2024 Abstract This article 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 one to handle possibly unstable reference dynamics. Owing to its stabilizing nature, the proposed framework is referred to as model reference adaptive stabilizing control. 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, generalizes the existing MRAC-based consensus schemes and can achieve consensus when state-of-the-art MRAC-based schemes may fail. Subject Adaptation modelsAdaptive controladaptive stabilizationconsensusdirected spanning treeMathematical modelsMRACMulti-agent systemsmultiagent systemsObserversStandardsTarget tracking To reference this document use: http://resolver.tudelft.nl/uuid:ba5cf3db-50de-42b1-a7dc-48b1b3778d09 DOI https://doi.org/10.1109/TAC.2023.3313642 Embargo date 2024-03-11 ISSN 0018-9286 Source IEEE Transactions on Automatic Control, 69 (3), 2052-2059 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2024 Dongdong Yue, S. Baldi, Jinde Cao, B.H.K. De Schutter Files PDF Model_Reference_Adaptive_ ... sensus.pdf 2.02 MB Close viewer /islandora/object/uuid:ba5cf3db-50de-42b1-a7dc-48b1b3778d09/datastream/OBJ/view