Adaptive control for cooperative linear output regulation of heterogeneous multi‐agent systems with periodic switching topology

Li, Shaobao; Feng, Gang; Wang, Juan; Luo, Xiaoyuan; Guan, Xinping

doi:10.1049/iet-cta.2014.0315

Cited by 35 publications

(43 citation statements)

References 34 publications

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“…When regards to the uncontrollable state as individual autonomous exosystem state ω i with setting E i =0, the system is reduced to . Also, note that the linear heterogeneous system in cannot describe the system in this paper, because the individual uncontrollable part breaks stabilizable assumption.…”

Section: Controller Design and Main Resultsmentioning

confidence: 99%

“…It is not suitable in the practical network because the communication links may be interrupted or changed over time. To the best of our knowledge, most literatures study the consensus of MASs under switching topology, such as , only few papers investigate heterogeneous linear systems subjected to switching networks . From the view of switching networks, require that each switching subgraph is connected.…”

Section: Introductionmentioning

confidence: 99%

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Distributed hierarchical control design of coupled heterogeneous linear systems under switching networks

Liu

Wang

Xiao

et al. 2016

Intl J Robust & Nonlinear

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Summary In this paper, the distributed hierarchical control design is investigated for cooperations of heterogeneous linear systems subjected to the switching networks, where each subgraph of switching networks is allowed to be disconnected. Each heterogeneous system contains uncontrollable states and evolves in different dimension with different dynamics. The hierarchical control framework proposed in this paper consists of distributed hierarchical controllers, which contain the upper‐layers dealing with the communication topologies and the lower‐layers dealing with the heterogeneity of the systems. Under the framework, the cooperation problem of heterogeneous linear systems is decoupled into a cooperation problem of homogeneous virtual systems in the upper‐layer and tracking problems of each single systems in the lower‐layer. These two layers are designed based on the optimal control method and the output regulation method, respectively. Under the hierarchical control framework, the leader‐following consensus of heterogeneous linear systems is achieved and the result is extended to the formation control problem. Finally, numerical examples are provided to demonstrate the effectiveness of the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.

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Section: Controller Design and Main Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed hierarchical control design of coupled heterogeneous linear systems under switching networks

Liu

Wang

Xiao

et al. 2016

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…Furthermore, Xu et al proposed a host internal model (h‐IM) approach such that the regulation problem is solvable, and the h‐IM can transmit its produced useful information to all the other agents along with a star‐type internal model network for the purpose of reaching agent coordination . Moreover, in the presence of unknown control direction and (or) large parameter variations in each agent, the distributed adaptive control law was presented by combining adaptive control and robust control techniques to achieve cooperative output regulation for MASs . From a practical point of view, the topology describing the information exchange among agents may be time varying due to the surrounding environmental changes.…”

Section: Introductionmentioning

confidence: 99%

“…From a practical point of view, the topology describing the information exchange among agents may be time varying due to the surrounding environmental changes. Accordingly, the cooperative robust output regulation problem of heterogeneous MASs was investigated with periodic switching topologies . The cooperative robust output regulation problem for nonlinear MASs with switching networks was studied in the work of Liu and Huang .…”

Section: Introductionmentioning

confidence: 99%

“…20 Moreover, in the presence of unknown control direction and (or) large parameter variations in each agent, the distributed adaptive control law was presented by combining adaptive control and robust control techniques to achieve cooperative output regulation for MASs. [21][22][23] From a practical point of view, the topology describing the information exchange among agents may be time varying due to the surrounding environmental changes. Accordingly, the cooperative robust output regulation problem of heterogeneous MASs was investigated with periodic switching topologies.…”

mentioning

confidence: 99%

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Cooperative output regulation of heterogeneous multiagent systems based on event‐triggered control with fixed and switching topologies

Jia

Zhao

2017

Intl J Robust & Nonlinear

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Summary This paper addresses the cooperative output regulation problem of multiagent systems with fixed and switching topologies. Each agent is a heterogeneous linear system, and the output of the exosystem can be available to only a subset of agents. For the agents that can directly access the exosystem, a common observer based on an event‐triggered strategy is constructed to estimate the exogenous signal for feedback control design. For the rest of the agents, estimators based on an event‐triggered mechanism to acquire the estimation value of the exogenous signal are designed under some essential assumptions. A decentralized event‐triggered formulation is considered first by applying a Lyapunov function for a fixed topology. Furthermore, a topology‐dependent triggering condition and the average dwell‐time switching law are deduced simultaneously by using multiple Lyapunov functions for switching topologies. Under communication constraints, we propose observer‐based and estimator‐based feedback controllers to solve the cooperative output regulation problem using available local information among agents. Two examples are finally provided to verify the effectiveness of the proposed theoretical results.

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An output formation consensus control for leader–follower networked multi‐agent systems under communication constraints and switching topologies

Lei

Zhang

Ionescu

et al. 2023

Asian Journal of Control

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In this paper, the formation consensus problem for a class of leader–follower networked multi‐agent systems under communication constraints and switching topologies is investigated. A networked predictive control scheme is proposed to achieve stability and output formation consensus with the switching topology, capable of compensating for data loss and time delays in the network. By equating the whole closed‐loop networked multi‐agent system with the proposed control scheme to the corresponding switched system, the sufficient and necessary condition of output formation consensus and stability for agents is given. Finally, using three‐degree‐of‐freedom air‐bearing spacecraft simulators as the control objects, the proposed scheme is demonstrated to be able to actively compensate for the communication constraints through numerical simulations, and it is also verified to have a good control performance by further realizing the formation task of the simulators through practical experiments.

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Adaptive control for cooperative linear output regulation of heterogeneous multi‐agent systems with periodic switching topology

Cited by 35 publications

References 34 publications

Distributed hierarchical control design of coupled heterogeneous linear systems under switching networks

Distributed hierarchical control design of coupled heterogeneous linear systems under switching networks

Cooperative output regulation of heterogeneous multiagent systems based on event‐triggered control with fixed and switching topologies

An output formation consensus control for leader–follower networked multi‐agent systems under communication constraints and switching topologies

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