Adaptive cooperative control of multi-agent systems

Abstract

In this thesis, two categories of cooperative control problem have been studied. The first one is distributed output feedback consensus tracking control of multiple nonholonomic mobile robots in the situations that i) sensor faults occur and ii) limited information of the reference trajectory is available are two important problems. Two fully distributed control scheme involves estimator, observer and controller design are developed to address these two issues respectively in the first part of the thesis. The second control problem is flocking with distance-based formation control, which aims to achieve the desired formation shape and move with a common velocity. Thus, in the second part of this thesis, distance-based formation and flocking control with nonholonomic dynamics and parametric uncertainty are respectively addressed by designing two adaptive control schemes.