Scaled Position Consensus of High-Order Uncertain Multiagent Systems Over Switching Directed Graphs
研究了切换有向图上具有参数不确定性的高阶多智能体系统的缩放位置一致性问题，提出一种基于参考模型的自适应分布式算法，使各智能体位置按不同比例达到一致。
We investigate the scaled position consensus of high-order multiagent systems with parametric uncertainties over switching directed graphs, where the agents' position states reach a consensus value with different scales. The intricacy arises from the asymmetry inherent in information interaction. Achieving scaled position consensus in high-order multiagent systems over directed graphs remains a significant challenge, particularly when confronted with the following complex features: 1) uniformly jointly connected switching directed graphs; 2) complex agent dynamics with unknown inertias, unknown control directions, parametric uncertainties, and external disturbances; 3) interacting with each other via only relative scaled position information (without high-order derivatives of relative position); and 4) fully distributed in terms of no shared gains and no global gain dependency. To address these challenges, we propose a distributed adaptive algorithm based on a acrlong MRACon scheme, where a linear high-order reference model is designed for every individual agent employing relative scaled position information as input. A new transformation is proposed which converts the scaled position consensus of high-order linear reference models to that of first-order ones. Theoretical analysis is presented where agents' positions achieve the scaled consensus over switching directed graphs. Numerical simulations are performed to validate the efficacy of our algorithm and some collective behaviors on traditional consensus, bipartite consensus, and cluster consensus are shown by precisely choosing the scales of the agents.