© The Institution of Engineering and Technology
This study investigates the output synchronisation of a heterogeneous network of agents affected by parameter perturbations. The authors use the output regulation theory to solve this problem. The main result is the construction of the reference generators and the robust regulators, which can guarantee the outputs of the non-identical agents track the output of the leader. The designed method includes two steps, which can be seen as a kind of separation principle. Firstly, the outputs of a network of local identical reference generators are forced to asymptotically follow the output of the leader. Secondly, under the control of an individual regulator, the output of each agent is forced to track the output of the corresponding local reference generator, via robust output regulation theory.
References
-
-
1)
-
34. Isidori, A., Marconi, D.L., Serrani, D.A.: ‘Fundamentals of internal-model-based control theory’ (Springer, 2003).
-
2)
-
10. Olfati-Saber, R.: ‘Flocking for multi-agent dynamic systems: algorithms and theory’, IEEE Trans. Autom. Control, 2006, 51, (3), pp. 401–420 (doi: 10.1109/TAC.2005.864190).
-
3)
-
14. Du, H., He, Y., Cheng, Y.: ‘Finite-time synchronization of a class of second-order nonlinear multi-agent systems using output feedback control’, IEEE Trans. Circuit Syst. I, Regul. Pap., 2014, 61, (6), pp. 1778–1788 (doi: 10.1109/TCSI.2013.2295012).
-
4)
-
8. Guan, Z.H., Wu, Y., Feng, G.: ‘Consensus analysis based on impulsive systems in multiagent networks’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2012, 59, (1), pp. 170–178 (doi: 10.1109/TCSI.2011.2158715).
-
5)
-
11. Li, X., Wang, X., Chen, G.: ‘Pinning a complex dynamical network to its equilibrium’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2004, 51, (10), pp. 2074–2087 (doi: 10.1109/TCSI.2004.835655).
-
6)
-
23. Qin, J., Yu, C., Gao, H.: ‘Coordination for linear multiagent systems with dynamic interaction topology in the leader-following framework’, IEEE Trans. Ind. Electron., 2014, 61, (5), pp. 2412–2422 (doi: 10.1109/TIE.2013.2273480).
-
7)
-
33. Su, Y., Huang, J.: ‘Cooperative output regulation with application to multi-agent consensus under switching network’, IEEE Trans. Syst. Man Cybern. B, Cybern., 2012, 42, (3), pp. 864–875 (doi: 10.1109/TSMCB.2011.2179981).
-
8)
-
28. Su, Y., Hong, Y., Huang, J.: ‘A general result on the robust cooperative output regulation for linear uncertain multi-agent systems’, IEEE Trans. Autom. Control, 2013, 58, (5), pp. 1275–1279 (doi: 10.1109/TAC.2012.2229837).
-
9)
-
12. Chen, T., Liu, X., Lu, W.: ‘Pinning complex networks by a single controller’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2007, 54, (6), pp. 1317–1326 (doi: 10.1109/TCSI.2007.895383).
-
10)
-
25. Xu, D., Huang, J.: ‘Robust adaptive control of a class of nonlinear systems and its applications’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2010, 57, (3), pp. 691–702 (doi: 10.1109/TCSI.2009.2025001).
-
11)
-
26. Li, Z., Duan, Z., Lewis, F.L.: ‘Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties’, Automatica, 2014, 50, (3), pp. 883–889 (doi: 10.1016/j.automatica.2013.12.008).
-
12)
-
19. Scardovi, L., Sepulchre, R.: ‘Synchronization in networks of identical linear systems’, Automatica, 2009, 45, (11), pp. 2557–2562 (doi: 10.1016/j.automatica.2009.07.006).
-
13)
-
3. Wang, L., Feng, W.-J., Chen, M.Z., Wang, Q.-g.: ‘Consensus of nonlinear multi-agent systems with adaptive protocols’, IET Control Theory Appl., 2014, 8, (18), pp. 2245–2252 (doi: 10.1049/iet-cta.2013.1081).
-
14)
-
13. Du, H., Li, S.: ‘Attitude synchronization control for a group of flexible spacecraft’, Automatica, 2014, 50, (2), pp. 646–651 (doi: 10.1016/j.automatica.2013.11.022).
-
15)
-
30. Grip, H.F., Yang, T., Saberi, A., Stoorvogel, A.A.: ‘Output synchronization for heterogeneous networks of non-introspective agents’, Automatica, 2012, 48, (10), pp. 2444–2453 (doi: 10.1016/j.automatica.2012.06.081).
-
16)
-
22. Kim, H., Shim, H., Seo, J.H.: ‘Output consensus of heterogeneous uncertain linear multi-agent systems’, IEEE Trans. Autom. Control, 2011, 56, (1), pp. 200–206 (doi: 10.1109/TAC.2010.2088710).
-
17)
-
16. Hong, Y., Hu, J., Gao, L.: ‘Tracking control for multi-agent consensus with an active leader and variable topology’, Automatica, 2006, 42, (7), pp. 1177–1182 (doi: 10.1016/j.automatica.2006.02.013).
-
18)
-
2. Su, H., Chen, M., Wang, X., Lam, J.: ‘Semi-global observer-based leader-following consensus with input saturation’, IEEE Trans. Ind. Electron., 2014, 61, (6), pp. 2842–2850 (doi: 10.1109/TIE.2013.2275976).
-
19)
-
17. Liu, T., Jiang, Z.P.: ‘Distributed nonlinear control of mobile autonomous multi-agents’, Automatica, 2014, 50, (4), pp. 1075–1086 (doi: 10.1016/j.automatica.2014.02.023).
-
20)
-
36. Saberi, A., Stoorvogel, A., Sannuti, P.: ‘Output regulation and control problems with regulation constraints’, (Springer-Verlag, 1999).
-
21)
-
21. Seo, J.H., Shim, H., Back, J.: ‘Consensus of high-order linear systems using dynamic output feedback compensator: low gain approach’, Automatica, 2009, 45, (11), pp. 2659–2664 (doi: 10.1016/j.automatica.2009.07.022).
-
22)
-
27. Wang, X., Hong, Y., Huang, J., Jiang, Z.P.: ‘A distributed control approach to a robust output regulation problem for multi-agent linear systems’, IEEE Trans. Autom. Control, 2010, 55, (12), pp. 2891–2895 (doi: 10.1109/TAC.2010.2076250).
-
23)
-
35. Huang, J.: ‘Nonlinear output regulation: theory and applications’ vol. 8 (SIAM, 2004).
-
24)
-
15. Moreau, L.: ‘Stability of multiagent systems with time-dependent communication links’, IEEE Trans. Autom. Control, 2005, 50, (2), pp. 169–182 (doi: 10.1109/TAC.2004.841888).
-
25)
-
1. Olfati-Saber, R., Murray, R.M.: ‘Consensus problems in networks of agents with switching topology and time-delays’, IEEE Trans. Autom. Control, 2004, 49, (9), pp. 1520–1533 (doi: 10.1109/TAC.2004.834113).
-
26)
-
7. Zhang, H.T., Chen, M.Z., Stan, G.B.: ‘Fast consensus via predictive pinning control’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2011, 58, (9), pp. 2247–2258 (doi: 10.1109/TCSI.2011.2123450).
-
27)
-
1. Hu, Y., Li, P., Lam, J.: ‘Consensus of multi-agent systems: a simultaneous stabilisation approach’, IET Control Theory Appl., 2012, 6, (11), pp. 1758–1765 (doi: 10.1049/iet-cta.2011.0324).
-
28)
-
9. Yu, W., Chen, G., Ren, W., Kurths, J., Zheng, W.X.: ‘Distributed higher order consensus protocols in multiagent dynamical systems’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2011, 58, (8), pp. 1924–1932 (doi: 10.1109/TCSI.2011.2106032).
-
29)
-
24. Ni, W., Cheng, D.: ‘Leader-following consensus of multi-agent systems under fixed and switching topologies’, Syst. Control Lett., 2010, 59, (3), pp. 209–217 (doi: 10.1016/j.sysconle.2010.01.006).
-
30)
-
31. Meng, Z., Yang, T., Dimarogonas, D.V., Johansson, K.H.: ‘Coordinated output regulation of multiple heterogeneous linear systems’. IEEE 52nd Annual Conf. on Decision and Control (CDC, 2013), 2013, pp. 2175–2180.
-
31)
-
4. Su, H., Jia, G., Chen, M.Z.: ‘Semi-global containment control of multi-agent systems with input saturation’, IET Control Theory Appl., 2014, 8, (18), pp. 2229–2237 (doi: 10.1049/iet-cta.2013.0958).
-
32)
-
29. Wieland, P., Sepulchre, R., Allgöwer, F.: ‘An internal model principle is necessary and sufficient for linear output synchronization’, Automatica, 2011, 47, (5), pp. 1068–1074 (doi: 10.1016/j.automatica.2011.01.081).
-
33)
-
20. Isidori, A., Marconi, L., Casadei, G.: ‘Robust output synchronization of a network of heterogeneous nonlinear agents via nonlinear regulation theory’, IEEE Trans. Autom. Control, 2014, 59, pp. 2680–2691 (doi: 10.1109/TAC.2014.2326213).
-
34)
-
6. Wang, X., Ni, W., Yang, J.: ‘Distributed output regulation of switching multi-agent systems subject to input saturation’, IET Control Theory Appl., 2013, 7, (2), pp. 202–209 (doi: 10.1049/iet-cta.2011.0600).
-
35)
-
18. Wen, G., Duan, Z., Chen, G., Yu, W.: ‘Consensus tracking of multi-agent systems with Lipschitz-type node dynamics and switching topologies’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2013, 61, (2), pp. 499–511 (doi: 10.1109/TCSI.2013.2268091).
-
36)
-
5. Yin, X., Yue, D., Hu, S.: ‘Consensus of fractional-order heterogeneous multi-agent systems’, IET Control Theory Appl., 2013, 7, (2), pp. 314–322 (doi: 10.1049/iet-cta.2012.0511).
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2014.1192
Related content
content/journals/10.1049/iet-cta.2014.1192
pub_keyword,iet_inspecKeyword,pub_concept
6
6