Cooperative Adaptive Control for Higher-Order Nonlinear Systems

Abstract

Cooperative control on communication graphs for agents that have unknown nonlinear dynamics that are not the same is a challenge. The interaction of the communication graph topology with the agent’s system dynamics is not easy to investigate if the dynamics of the agents are heterogeneous, that is, not identical, since the Kronecker product cannot be used to simplify the analysis. Therefore, the intertwining of the graph structure with the local control design is more severe and makes the design of guaranteed synchronizing controls very difficult. That is to say, the communication graph structure imposes more severe limitations on the design of controllers for systems that have nonlinear and nonidentical dynamics, making it more challenging to guarantee the synchronization of all agents in the network.