Adaptive Cooperative Control of the Multi-Agent System

This paper deals with the Model Reference Adaptive Controller (MRAC)-based leader-followers consensus problem of a multi-agent system (MAS) characterized by linearized state-space models. The transmission graph of the agents is undirected among the followers and directed towards the leader agents. Feedback to the leader agent is given from the neighboring agent. The distributed control law is derived based on the relative output errors between the neighboring agents. Closed-loop reference model-based MRAC algorithm is proposed and gives the necessary/sufficient criteria for the existence of the leader-following consensus protocol. The stability analysis of the system with the suggested control framework has been investigated by applying the Lyapunov method. Lastly, a simulation case study is provided to illustrate the proficiency of the theoretical finding.