Cooperative control for coupled multi-agent systems with parallel estimators and adaptive controllers

This paper is concerned with the decentralized and distributed estimation and control problem for a formation of agents with strongly couplings. The collected agents of the formation are modeled by a class of uncertain nonlinear systems communicating information between each other through unidirectional links with a fixed communication topology. Carrying an estimate of the entire formation state in each agent, the proposed hybrid control strategy relies on the possibility of making discrete on-line adjustments of parameter in the updating law of gain by a monitor signal. By a Lyapunov-based analysis of closed-loop equilibrium dynamics, a constructive design procedure results in the consensus of the estimation error dynamics and the stability of all signals in the closed-loop systems simultaneously.