An Adaptive Optimal Control Modification with Input Uncertainty for Unknown Heterogeneous Agents Synchronization

In cooperative systems, the presence of heterogeneous agents with input uncertainty hinders the operation of conventional control protocols. In the same way, by including unknown parameters, one of the best alternatives is to design an adaptive control protocol that adjusts the system under adverse conditions. In this work, we present a control strategy based on an optimal modification adaptive control for interconnected systems, which has a better response to input uncertainties than traditional adaptive control. A boundary analysis based on Lyapunov method is made to guarantee that all closed-loop signals are bounded through a leader-follower strategy in the context of cooperative control.