Adaptive internal model-based distributed output agreement in a class of multi-agent dynamic systems

Abstract

In this study we consider the distributed output agreement problem in a class of multi-agent dynamic systems with uncertainties. The problem is formulated as a nonlinear servomechanism problem and an adaptive internal model-based controller is used to achieve agreement of the agent outputs using local information. Various agent neighborhood topologies are considered and the performance of the system is verified using simple numerical simulations. © Springer International Publishing Switzerland 2016.