Reference
D. Yue, S. Baldi, J. Cao, and B. De Schutter, "Model reference adaptive
stabilizing control with application to leaderless consensus,"
IEEE Transactions on Automatic Control, vol. 69, no. 3, pp.
2052-2059, Mar. 2024.
Abstract
This paper 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 to handle possibly
unstable reference dynamics. Due to its stabilizing nature, the proposed
framework is referred to as model reference adaptive stabilizing control
(MRASC). 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 (MRASCon), generalizes existing MRAC-based consensus
schemes and can achieve consensus when state-of-the-art MRAC-based schemes may
fail.
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BibTeX
@article{YueBal:24-001,
author = {Yue, Dongdong and Baldi, Simone and Cao, Jinde and De Schutter,
Bart},
title = {Model Reference Adaptive Stabilizing Control with Application to
Leaderless Consensus},
journal = {IEEE Transactions on Automatic Control},
volume = {69},
number = {3},
pages = {2052--2059},
month = mar,
year = {2024}
}