This paper addresses the output synchronization of heterogeneous uncertain linear systems in the presence of input disturbance. The synchronization problem is solved by introducing the distributed model reference adaptive control. The distinguishing features of the proposed approach are the capability to synchronize the entire network output by using only the control input and the output of neighbouring systems. It also provides synchronization in the presence of bounded control input disturbance. The control input disturbance is handled by extending the proposed method with the sigma-modification. By using the distributed matching condition assumptions, the coupling gains between the agents can be updated adaptively. The distributed robust adaptive controller is first analysed by using the distributed Lyapunov function. Its effectiveness is validated in the simulation of the cart inverted pendulum systems stabilization problem.

本文解决了存在输入扰动的异构不确定线性系统的输出同步问题。通过引入分布式模型参考自适应控制解决了同步问题。所提出方法的显着特点是能够通过仅使用相邻系统的控制输入和输出来同步整个网络输出。它还在存在有界控制输入干扰的情况下提供同步。通过使用 sigma-modification 扩展所提出的方法来处理控制输入干扰。通过使用分布式匹配条件假设，可以自适应地更新代理之间的耦合增益。首先利用分布式Lyapunov函数分析分布式鲁棒自适应控制器。