Decentralized Adaptive Synchronization of a Class of Discrete-time and Nonlinearly Parametrized Coupled Multi-agent Systems

The adaptive decentralized control problem of the discrete-time and nonlinear multi-agent system is addressed. Each agent is expressed by a discrete-time and nonlinear model with the unknown parameter. The output of each agent has an influence from the history outputs of its own and neighbor agents. To deal with the parameter uncertainty, a projection-type parameter estimation algorithm is adopted. Based on the certainty equivalence principle, only using the history outputs of its own and neighbor agents, the local control law of each agent is designed. And we give the theorems that the output of each agent tracks the average value of history outputs of its neighbor agents, and the closed-loop system eventually achieves strong synchronization. Finally, the simulation is provided to illustrated the validity of the results.