Adaptive Consensus with Exponential Decay

TL;DR

This paper proposes an adaptive consensus control method for uncertain multi-agent systems that uses concurrent learning with historical data, ensuring exponential convergence even with quantized communication.

Contribution

It introduces a novel adaptive control framework combining concurrent learning and quantized communication analysis for multi-agent consensus.

Findings

Ensures exponential convergence of consensus and parameter estimation.

Achieves consensus within an error proportional to quantization level.

Extends adaptive consensus to systems with quantized communication.

Abstract

This paper addresses the adaptive consensus problem in uncertain multi-agent systems, particularly under challenges posed by quantized communication. We consider agents with general linear dynamics subject to nonlinear uncertainties and propose an adaptive consensus control framework that integrates concurrent learning. Unlike traditional methods relying solely on instantaneous data, concurrent learning leverages stored historical data to enhance parameter estimation without requiring persistent excitation. We establish that the proposed controller ensures exponential convergence of both consensus and parameter estimation. Furthermore, we extend the analysis to scenarios where inter-agent communication is quantized using a uniform quantizer. We prove that the system still achieves consensus up to an error proportional to the quantization level, with exponential convergence rate.