Partial-state synchronization of linear heterogeneous multi-agent systems

Abstract

This article is devoted to the synchronization of heterogeneous, and hence non-identical, linear systems. The proposed solution results in a fully distributed control law solely relying on local measurements. In order to achieve this, it is shown that the problem can be decomposed into three sub-problems: First, the synchronization of identical exosystems provides a feasible trajectory which turns out to be the synchronization manifold. Second, a decentralized observer is proposed for estimating the absolute state based on the local measurements performed. Third, this estimate is used to derive a tracking control law, based on the full information output regulation problem, to follow the generated exosystem reference. The concept is illustrated by an example.

Output synchronization of linear parameter-varying systems via dynamic couplings

“…However, this solution is of minor interest since it corresponds to trivial synchronization according to (10).…”

Consensus of heterogeneous first‐ and second‐order multi‐agent systems with directed communication topologies

“…An internal model principle for consensus of heterogeneous multi-agent systems was originally presented in [24], where a minimum requirement, which is satisfied by all agents and their controllers, was given to guarantee the output consensus. Based on the output regulation theory, Kim et al [25] studied the output consensus problem for single-input single-output uncertain heterogenous multiagent systems.Another topic that is closely related to the consensus of heterogeneous multi-agent systems is the synchronization of heterogeneous dynamical networks, which has been intensively studied in [26][27][28][29][30][31]. For example, nonlinear controllers were designed in [27] to investigate the output synchronization of nonlinear systems.…”

“…An output synchronization problem for heterogeneous networks of linear agents was considered in [31], where the input of the root node was set to zero and controllers were designed to make all the other nodes synchronize to the root node. The analyses of References [26,31] were built on the assumptions that the topology of the network was fixed and had a directed spanning tree.The objective of this paper is to extend the results in [9,22,23] to the case of directed graphs by using graph theory and matrix theory. As a comparison, References [9,22] investigated the consensus problem for heterogeneous multi-agent systems composed of continuous-time first-and second-order agents with/without velocity measurement, where Lyapunov direct method and graph theory were used to derive sufficient conditions on fixed communication topology to guarantee consensus.…”

“…Another topic that is closely related to the consensus of heterogeneous multi-agent systems is the synchronization of heterogeneous dynamical networks, which has been intensively studied in [26][27][28][29][30][31]. For example, nonlinear controllers were designed in [27] to investigate the output synchronization of nonlinear systems.…”

Entkopplungsbasierte Synchronisierung heterogener linearer Multi-Agenten-Systeme

“…Im ersten Ansatz wird vorausgesetzt, dass ausschließlich relative Informationen zur Verfügung stehen. D.h., die Agenten haben keinerlei Kenntnis über ihre internen Zustände und können nur relative Zustandsdifferenzen zu ihren Nachbarn messen [10,15]. Dies ist beispielsweise der Fall, wenn Agenten innerhalb eines unbekannten Gebiets ihre absolute Position nicht kennen, aber ihren Abstand zu benachbarten Agenten messen können.…”