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Accurate Cooperative Control for Multiple Leaders Multiagent Uncertain Systems: A Two-Layer Node-to-Node Communication Framework

This paper proposes an accurate cooperative control strategy to address the distributed adaptive consensus problem for multiple subsystems of the process industrial plants by constructing a two-layer node-to-node communication framework. In the present framework, each subsystem is modeled by an agent, and all the subsystems and the information flow are regarded as a multiagent uncertain system. By introducing proper assumptions, a class of distributed adaptive consensus protocol for accurate cooperative control is designed by adaptive weighting factors, appropriate feedback gains, and limited state information. It shows that distributed adaptive consensus of accurate cooperative control can be achieved for closed-loop multiagent uncertain systems with the two-layer node-to-node communication framework, if each follower is affected by at least one leader for some uniformly bounded communication time intervals. The results are further extended to nonlinear situations. Two application examples are presented to verify the effectiveness of the proposed approaches.