PdE-based model reference adaptive control of uncertain heterogeneous multiagent networks

Jun Kim, Kyoung Dae Kim, Vivek Natarajan, Scott David Kelly, Joseph Bentsman

Research output: Contribution to journalArticlepeer-review


Robust globally stable model reference adaptive control (MRAC) laws recently derived for systems described by parabolic and hyperbolic partial differential equations (PDEs) with spatially-varying coefficients under distributed sensing and actuation are extended to heterogeneous multiagent networks characterized by parameter uncertainty. The extension is carried out using partial difference equations (PdEs) on graphs that preserve parabolic- and hyperbolic-like cumulative network behavior. Unlike in the PDE case, only boundary input is specified for the reference model. The algorithms proposed directly incorporate this boundary reference input into the reference PdE to generate the distributed admissible reference evolution profile followed by the agents. The agent evolution thus depends only on the interaction with the adjacent agents, making the system fully decentralized. Numerical examples are presented as well, including the case of the switched topology associated with a sudden loss of an agent. The resulting PdE MRAC laws inherit the robust linear structure of their PDE counterparts.

Original languageEnglish (US)
Pages (from-to)1152-1167
Number of pages16
JournalNonlinear Analysis: Hybrid Systems
Issue number4
StatePublished - Nov 2008


  • Decentralized control
  • Model reference adaptive control
  • Multiagent networks
  • Parameter uncertainty
  • Partial difference equations on graphs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Analysis
  • Computer Science Applications


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