Distributed Adaptive Output Consensus of Unknown Heterogeneous Non-Minimum Phase Multi-Agent Systems

This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs. The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees. This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree. A distributed adaptive pole placement control scheme is developed, which consists of a distributed observer and an adaptive pole placement control law. It is shown that under the proposed distributed adaptive control scheme, all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically. The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.