Coordination of Heterogeneous Nonlinear Multi-Agent Systems with Prescribed Behaviors

TL;DR

This paper develops a distributed control framework for heterogeneous nonlinear multi-agent systems to achieve prescribed input-output behaviors, considering leader control inputs, with adaptive extensions and verified by an example.

Contribution

It introduces a novel coordination approach that accounts for leader control inputs and provides a fully distributed adaptive method for heterogeneous nonlinear systems.

Findings

Successful coordination with prescribed behaviors demonstrated

Adaptive extension works without leader input information

Effectiveness verified through an example

Abstract

In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing multi-agent coordination results with an autonomous (virtual) leader, this formulation takes possible control inputs of the leader into consideration. First, the coordination was achieved by utilizing a group of distributed observers based on conventional assumptions of model matching problem. Then, a fully distributed adaptive extension was proposed without using the input of this input-output behavior. An example was given to verify their effectiveness.