Distributed output regulation of leader–follower multi‐agent systems

Abstract

In this paper, distributed leader-follower control algorithms are presented for linear multi-agent systems based on output regulation theory and internal model principle. By treating a leader to be followed as an exosystem, the proposed framework can be used to generalize existing multi-agent coordination solutions to allow the identical agents to track an active leader with different dynamics and unmeasurable variables. Moreover, the obtained results for multi-agent coordination control are an extension of previous work on centralized and decentralized output regulation to a distributed control context. Necessary and sufficient conditions for the distributed output regulation problem are given. Finally, distributed output regulation of some classes of multi-agent systems with switching interconnection topologies are discussed via both static and dynamic feedback.

Cooperative global optimal preview tracking control of linear multi-agent systems: an internal model approach

“…Furthermore, since the regulated output is taken as a component of the augmented state vector, the certain matrix equations, which are required in distributed output regulation problems (see, e.g. Hong et al, 2013), are not needed in this paper by directly making use of the property of the internal model. In future, one of the important research topics is to extend the present result to the linear descriptor multi-agent systems, which is more challenging due to the special structure of descriptor systems.…”

“…In addition, the containment control problem for heterogeneous linear multi-agent systems was studied based on output regulation approach (Haghshenas, Badamchizadeh, & Baradarannia, 2015). Excellent results about this type of problem were also given in Hong, Wang, and Jiang (2013) ;Li, Feng, Wang, Luo, and Guan (2014); Yu and Wang (2014).…”

“…Thus, it will not only eliminate the impact of unstable reference signal on the asymptotic stability of the closed-loop augmented system, but also get rid of certain matrix equations needed for achieving consensus in distributed output regulation problem, e.g. Hong et al (2013). Third, it has shown that the agent dynamic structure, communication topology and the characteristics of internal model have joint effect on the stabilisability and detectability of the augmented system.…”

Multi-Agent Cooperative Control Consensus: A Comparative Review

“…Non-linear multi-agent consensus protocol for heterogeneous agents using fuzzy disturbance observer [38], distributed H ∞ controller [41], internal model principle [42] and switching topology [43] are also studied recently.…”

Quantized distributed output regulation of multi-agent systems

“…Recently, distributed output regulation problem has been proposed with regarding some coordination problems as its special case as discussed in ( [7,11,14,15,16,17]). It is mainly about distributed feedback design for multi-agent systems to achieve asymptotically tracking and distributed disturbance rejection.…”