Distributed Adaptive Control of Uncertain Multiagent Systems with Coupled Dynamics

This paper studies distributed adaptive architectures for controlling uncertain multiagent systems with unmeasurable coupled dynamics. Specifically, we first analyze a standard distributed adaptive control method with system uncertainties and coupled dynamics in a leader-follower setting, where we present local stability conditions. We second propose an additional feedback term within the control signal of each agent in order to relax the aforementioned local stability conditions. An illustrative numerical example is then given in order to demonstrate our contributions.