adaptive synchronization for heterogeneous multi-agent systems with switching topologies

This work provides a multi-agent extension of output-feedback model reference adaptive control (MRAC), designed to synchronize a network of heterogeneous uncertain agents. The implementation of this scheme is based on multi-agent matching conditions. The practical advantage of the proposed MRAC is the possibility of handling the case of the unknown dynamics of the agents only by using the output and the control input of its neighbors. In addition, it is reasonable to consider the case when the communication topology is time-varying. In this work, the time-varying communication leads to a switching control structure that depends on the number of the predecessor of the agents. By using the switching control structure to handle the time-varying topologies, we show that synchronization can be achieved. The multi-agent adaptive switching controller is first analyzed, and numerical simulations based on formation control of simplifier quadcopter dynamics are provided.