Application of a Distributed Adaptive Control Approach to a Heterogeneous Multiagent Mechanical Platform
AIAA Science and Technology (SciTech) Forum and Exposition, California, Amerika Birleşik Devletleri, 7 - 17 Ocak 2019, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.2514/6.2019-1427
- Basıldığı Şehir: California
- Basıldığı Ülke: Amerika Birleşik Devletleri
- Yıldız Teknik Üniversitesi Adresli: Hayır
Özet
A distributed adaptive control architecture is recently developed for a class of heterogeneous uncertain multiagent systems [1]. This architecture has the capability to provide uniform ultimate boundedness for the output tracking error between each heterogeneous uncertain agent and the leader with unknown dynamics. As a special case, in addition, it allows the output of agents to asymptotically converge to the output of the leader, which converges to a constant, in the presence of matched disturbances and time-invariant system uncertainties over fixed and directed communication graph topologies. The main contribution of this paper is to provide an experimental study on a heterogeneous multiagent mechanical platform composed of two cart-inverted pendulums and a cart to demonstrate the performance of this architecture in practice.