The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems

Cai, He; Lewis, Frank L.; Hu, Guoqiang; Huang, Jie

doi:10.1016/j.automatica.2016.09.038

Cited by 366 publications

(186 citation statements)

References 13 publications

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“…By means of the cooperation of different types of agents, each agent can make up for its own shortcomings, and heterogeneous multiagent systems (HMASs) are more powerful than homogeneous ones. Cooperative output regulation of HMASs, which can be viewed as a generalization of the consensus tracking problems, has captured attention recently, where the heterogeneous follower subsystems need track the reference trajectory or reject the disturbance generated by the exosystem (ie, the leader). Based on the framework of cooperative output regulation, several formation control approaches for HMASs were presented in References .…”

Section: Introductionmentioning

confidence: 99%

“…It should be pointed out that the expected trajectory of the whole HMAS was generated by only one real/virtual leader in References . In some applications, there are multiple leaders for the followers to track .…”

Section: Introductionmentioning

confidence: 99%

“…Thus, it is significant to further study the formation tracking approaches without depending on the well‐informed follower assumption. In this case, all the followers cannot acquire the complete information of the multiple leaders, while the existing results for HMASs with one leader in References all required that at least one follower can get the leader's information directly. So these approaches in References cannot be applied to the multiple leaders simply.…”

Section: Introductionmentioning

confidence: 99%

“…In this case, all the followers cannot acquire the complete information of the multiple leaders, while the existing results for HMASs with one leader in References all required that at least one follower can get the leader's information directly. So these approaches in References cannot be applied to the multiple leaders simply. In addition, although multiple leaders were considered in the containment control for HMASs in References , all the followers cannot reach an agreement on the same convex combination of the leaders without the well‐informed follower assumption (see remark 4 in Reference ), and all the leaders were assumed to share identical dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…The distributed observer approach is one of the main techniques to solve the cooperation control problems of HMASs (eg, References ). As pointed in Reference , a drawback of the distributed observer approach in References is that each follower has to know the system matrix of the leader. This assumption is removed in Reference , and an adaptive distributed observer was constructed for the followers to estimate the leader's system matrix and state at the same time.…”

Section: Introductionmentioning

confidence: 99%

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Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Hua

Dong

et al. 2020

Intl J Robust & Nonlinear

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Summary This paper studies the time‐varying output formation tracking (OFT) problems for linear heterogeneous multiagent systems with multiple leaders, where both the followers and the leaders can have nonidentical dynamics and dimensions. The existing results on formation tracking with multiple leaders depend on the assumption that each follower is well‐informed or uninformed, where the well‐informed follower has all the leaders as its neighbor. To remove this assumption, a novel OFT approach is presented using a distributed observer scheme. Firstly, based on the local estimation and the interaction with neighboring followers, a fully distributed observer is designed for each follower to estimate the dynamical matrices and the states of multiple leaders without requiring the well‐informed follower assumption. The convergence of the distributed observer is proved by using Lyapunov theory. Then, an adaptive algorithm is proposed to solve the regulator equations in finite time based on the estimation of the leaders' dynamical matrices. Furthermore, the desired time‐varying output formation of each follower is generated by a local active exosystem. A time‐varying OFT protocol is presented using the estimated states of multiple leaders, the online solutions of the regulator equations, and the desired formation vector generated by the local exosystem. It is proved that the outputs of the followers can not only realize the expected formation shape but also track the predefined convex combination of multiple leaders. Finally, a simulation example is given to verify the theoretical results.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Hua

Dong

et al. 2020

Intl J Robust & Nonlinear

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Observer‐based adaptive optimal output containment control problem of linear heterogeneous Multiagent systems with relative output measurements

Mazouchi

Sistani

Sani

et al. 2018

Adaptive Control & Signal

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This paper develops a relative output-feedback-based solution to the containment control of linear heterogeneous multiagent systems. A distributed optimal control protocol is presented for the followers to not only assure that their outputs fall into the convex hull of the leaders' output but also optimizes their transient performance. The proposed optimal solution is composed of a feedback part, depending of the followers' state, and a feed-forward part, depending on the convex hull of the leaders' state. To comply with most real-world applications, the feedback and feed-forward states are assumed to be unavailable and are estimated using two distributed observers. That is, a distributed observer is designed to measure each agent's states using only its relative output measurements and the information that it receives by its neighbors. Another adaptive distributed observer is designed, which uses exchange of information between followers over a communication network to estimate the convex hull of the leaders' state.The proposed observer relaxes the restrictive requirement of having access to the complete knowledge of the leaders' dynamics by all the followers. An off-policy reinforcement learning algorithm on an actor-critic structure is next developed to solve the optimal containment control problem online, using relative output measurements and without requiring the leaders' dynamics. Finally, the theoretical results are verified by numerical simulations. KEYWORDSadaptive distributed observer, cooperative output regulation, optimal control, output containment control, reinforcement learning 262

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Synchronization of heterogeneous multiagent systems: A distributed observer and compensation framework

2020

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This article proposes a distributed observer and compensation framework to address the synchronization problem of heterogeneous multiagent systems under directed communication and dynamic jointly connected topology scenarios. Different from the previous results, the synchronization problem is solved in our framework which neither relies on the solution of regulator equations which can be regarded as a high gain and usually calculated by a forced equivalence principle, nor assumes the global connectivity condition for all the agents to obtain a bounded synchronization error level. To do this, first, we introduce a dual design principle, where a stabilization condition with an appropriate coupling strength for the synchronization algorithm is proposed. Within this framework, a class of synchronization dynamics called synchronization distributed observers and tracking controller named control protocol are designed. While the synchronization behaviors can be achieved between synchronization distributed observers and control protocol, all the agents will synchronize to their leader in a situation where the system dynamics of the leader can be acquired in advance by all individuals. Finally, simulations of heterogeneous single‐link manipulators are presented to show the effectiveness of our approach.

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The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems

Cited by 366 publications

References 13 publications

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Distributed adaptive formation tracking for heterogeneous multiagent systems with multiple nonidentical leaders and without well‐informed follower

Observer‐based adaptive optimal output containment control problem of linear heterogeneous Multiagent systems with relative output measurements

Synchronization of heterogeneous multiagent systems: A distributed observer and compensation framework

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