Optimal consensus for uncertain high‐order multi‐agent systems by output feedback

Abstract

The distributed optimal output consensus problem for high‐order multi‐agent systems has been studied recently. In this article, we further focus on the same problem for high‐order multi‐agent systems subject to parametric uncertainties and aim at distributed robust controllers by measurement output feedback. We first develop a dynamic compensator to estimate the expected optimal consensus point and convert the problem into several decentralized robust tracking problems. Then, by combining the integral control technique and dirty derivative observer technique, we constructively propose a distributed output feedback integral controller to solve this problem under a mild graph connectivity condition.

Distributed optimization of high‐order nonlinear multi‐agent systems with disturbance under switching topologies

“…First, from the perspective of graphs, the considered switching digraphs are UJSC, which means, we need to analyze the convergence of algorithms for both isolated subgraphs and isolated agents. Thus, compared with the distributed optimization results [18][19][20][21][22][23][24] for MASs with fixed digraphs, the convergence analysis in this article is more complicated. Furthermore, in order to handle the nonlinearity and disturbance in the considered MASs Equation (2), we design a new disturbance observer, which also bring difficulties in the design of algorithms.…”

“…Notice that the authors of literatures 9‐17 investigated distributed optimization problems based on first‐order MASs. However, the control objects are generally modeled as high‐order MASs 18‐25 in many real scenarios. Therefore, the distributed optimization of high‐order MASs was widely explored by many researchers.…”

“…Therefore, the distributed optimization of high‐order MASs was widely explored by many researchers. For instance, in order to realize distributed optimization of high‐order ideal MASs, a number of distributed control algorithms 18‐20 were proposed, where the graphs of MASs are required to be fixed. Furthermore, the distributed optimization problems for high‐order nonlinear MASs also attracted extensive research interests with the fact that nonlinear dynamics exists in various high‐order MASs.…”

“…In addition, it is noticed that MASs may be disturbed in actual deployments, thus, the authors of literatures 17,23,25 took disturbance into considerations. Note that the existing distributed optimization methods 18‐25 for high‐order ideal/nonlinear/disturbed MASs require that the graphs are fixed. Consequently, the distributed optimization of high‐order nonlinear MASs with disturbance under switching digraphs is still worth investigating.…”

“…In contrast to methodologies for first‐order MASs, 11‐17 the new proposed distributed optimization algorithms are designed based on high‐order MASs. Compared with the results 18‐20 for high‐order ideal MASs, in this article, the distributed optimization problems for high‐order nonlinear MASs with disturbance are addressed. Additionally, in the view of topology requirements, the new presented distributed algorithms can be deployed to high‐order MASs under switching digraphs, which is typically different from methods in literatures 18‐25 .…”