Full-order observer-based output regulation for linear heterogeneous multi-agent systems under switching topology

Abstract

This study addressed the output regulation issue of linear heterogeneous multi-agent systems under switching topology. All agents excluding the external system are divided into two groups with measurable agents or unmeasurable agents. The agents' states in the first group can be available for measurement while the agents' states in the second group are unmeasurable. For the second group, a full-order Luenberger observer is devised to recover these agents' states. Moreover, there are some agents that can not receive the information from the exosystem directly, thus, a dynamic compensator is constructed for these agents. Based on the proposed observer and compensator, a hybrid feedback control strategy is put forward to settle the output regulation issue. Furthermore, the information interaction among agents is expressed by the switching topology, and the topology is assumed to be jointly connected. Finally, two numerical examples are given to illustrate the feasibility of the theoretical results. The results show that whether the states are measurable or not, the proposed control strategy can address the output regulation issue of linear heterogeneous MASs under switching topology. Moreover, the comparative experiment indicates that our method obtains superior performance in terms of convergence speed, and is more efficient in dealing with practical problems.

Fully distributed bipartite output consensus of heterogeneous linear multiagent systems based on event‐triggered transmission mechanism

“…In this regard, the output consensus problem of heterogeneous MASs is usually studied. Several typical results have been obtained (see References and the references therein).…”

“…It aims at designing the distributed control scheme such that a set of agents reach an agreement on state or output. Some pioneering works on this topic can be found in References and references therein. For example, many early studies focused on the relative simple systems including single‐integrator systems and double‐integrator systems .…”

“…Moreover, the disturbances considered in this article are more challenging in three cases: (a) the disturbances are not available for measurement; (b) the disturbances suffered by each agent are heterogeneous, and (c) the disturbances are not required to be stable or bounded. The points including unbounded, heterogeneous, and immeasurable external disturbances, heterogeneous MASs, event‐triggered control, adaptive control, and bipartite control are taken into account in the meantime. Compared with the existing results where only a part of points are considered, the proposed method is more extensive. Compared with the existing methods, most of them cannot be applied in our article directly, since there exist some limitations such as continuous communication, single‐ or double‐ integrator dynamics, homogeneous linear dynamics, and global information‐dependent parameter design . Therefore, the method in this article is more general.…”