Cooperative adaptive control of a two-agent system

In this paper, a new cooperative control framework using L
₁
adaptive control is presented for a two-agent dynamic system with uncertainties. In this framework, each agent uses the L
₁
adaptive control law to handle both local uncertainties and interconnected uncertainties from the effects of the other agent's control signals and dynamics. The global objective is achieved when each agent achieves its local objective. The stability condition for the closed-loop global dynamic system is derived. Simulation results illustrate the presented cooperative control framework.