http://iet.metastore.ingenta.com
1887

Cooperative output regulation of linear heterogeneous systems with mismatched uncertainties via generalised extended state observer

Cooperative output regulation of linear heterogeneous systems with mismatched uncertainties via generalised extended state observer

For access to this article, please select a purchase option:

Buy article PDF
$19.95
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

Cooperative output regulation is a general framework, which considers output synchronisation, homogenisation and disturbance rejection simultaneously. To be an extension, this study divides the lumped disturbance into two parts, namely, local disturbance which is slow-varying, mismatched and non-linear, and global disturbance generated by an autonomous linear system. Generalised extended state observers (GESOs) are constructed to estimate the local states, the local disturbances and the global disturbance simultaneously. Observer-based controllers are designed to realise cooperative output regulation in the presence of mismatched uncertainties. In control design, a linear matrix inequality-based design methodology is proposed to get the exponentially convergent GESO with guaranteed decay rate. A simulation example is then shown to validate the theoretical results.

References

    1. 1)
      • 1. Ren, W.: ‘Consensus strategies for cooperative control of vehicle formations’, IET Control Theory Appl., 2007, 1, (2), pp. 505512.
    2. 2)
      • 2. Meng, Z., Ren, W., Cao, Y., et al: ‘Leaderless and leader–following consensus with communication and input delays under a directed network topology’, IEEE Trans. Syst. Man Cybern. B, Cybern., 2011, 41, (1), pp. 7588.
    3. 3)
      • 3. Cao, Y., Yu, W., Ren, W., et al: ‘An overview of recent progress in the study of distributed multi-agent coordination’, IEEE Trans. Ind. Inf., 2013, 9, (1), pp. 427438.
    4. 4)
      • 4. Li, Z., Duan, Z., Chen, G., et al: ‘Consensus of multiagent systems and synchronization of complex networks: a unified viewpoint’, IEEE Trans. Circuits Syst. I, Regul. Pap., 2010, 57, (1), pp. 213224.
    5. 5)
      • 5. Zhang, H., Lewis, F.L., Qu, Z.: ‘Lyapunov, adaptive, and optimal design techniques for cooperative systems on directed communication graphs’, IEEE Trans. Ind. Electron., 2012, 59, (7), pp. 30263041.
    6. 6)
      • 6. Qu, Z., Wang, J., Hull, R.A.: ‘Cooperative control of dynamical systems with application to autonomous vehicles’, IEEE Trans. Autom. Control, 2008, 53, (4), pp. 894911.
    7. 7)
      • 7. Kim, H., Shim, H., Seo, J.H.: ‘Output consensus of heterogeneous uncertain linear multi-agent systems’, IEEE Trans. Autom. Control, 2011, 56, (1), pp. 200206.
    8. 8)
      • 8. Wieland, P., Sepulchre, R., Allgöwer, F.: ‘An internal model principle is necessary and sufficient for linear output synchronization’, Automatica, 2011, 47, (5), pp. 10681074.
    9. 9)
      • 9. Huang, J.: ‘Nonlinear output regulation: theory and applications’ (SIAM, Philadelphia, PA, USA, 2004).
    10. 10)
      • 10. Wang, X., Hong, Y., Huang, J., et al: ‘A distributed control approach to a robust output regulation problem for multi-agent linear systems’, IEEE Trans. Autom. Control, 2010, 55, (12), pp. 28912895.
    11. 11)
      • 11. Su, Y., Huang, J.: ‘Co-operative output regulation of linear multi-agent systems’, IEEE Trans. Autom. Control, 2012, 57, (4), pp. 10621066.
    12. 12)
      • 12. Scardovi, L., Sepulchre, R.: ‘Synchronization in networks of identical linear systems’, Automatica, 2009, 45, (11), pp. 25572562.
    13. 13)
      • 13. Huang, C., Ye, X.: ‘Co-operative output regulation of heterogeneous multi-agent systems: an H criterion’, IEEE Trans. Autom. Control, 2014, 59, (1), pp. 267273.
    14. 14)
      • 14. Yaghmaie, F.A., Lewis, F.L., Su, R.: ‘Output regulation of linear heterogeneous multi-agent systems via output and state feedback’, Automatica, 2016, 67, pp. 157164.
    15. 15)
      • 15. Seyboth, G.S., Ren, W., Allgöwer, F.: ‘Co-operative control of linear multi-agent systems via distributed output regulation and transient synchronization’, Automatica, 2016, 68, pp. 132139.
    16. 16)
      • 16. Cao, W., Zhang, J., Ren, W.: ‘Leader-follower consensus of linear multi-agent systems with unknown external disturbances’, Syst. Control Lett., 2015, 82, pp. 6470.
    17. 17)
      • 17. Wei, X., Guo, L.: ‘Composite disturbance-observer-based control and terminal sliding mode control for non-linear systems with disturbances’, Int. J. Control, 2009, 82, (6), pp. 10821098.
    18. 18)
      • 18. Wei, X., Guo, L.: ‘Composite disturbance-observer-based control and H control for complex continuous models’, Int. J. Robust Nonlinear Control, 2010, 20, (1), pp. 106118.
    19. 19)
      • 19. Sun, H., Li, S., Yang, J., et al: ‘Global output regulation for strict-feedback nonlinear systems with mismatched nonvanishing disturbances’, Int. J. Robust Nonlinear Control, 2015, 25, (15), pp. 26312645.
    20. 20)
      • 20. Su, Y.: ‘Leader-following rendezvous with connectivity preservation and disturbance rejection via internal model approach’, Automatica, 2015, 57, pp. 203212.
    21. 21)
      • 21. Shen, Q., Shi, P.: ‘Distributed command filtered backstepping consensus tracking control of nonlinear multiple-agent systems in strict-feedback form’, Automatica, 2015, 53, pp. 120124.
    22. 22)
      • 22. Li, S., Yang, J., Chen, W.H., et al: ‘Generalized extended state observer based control for systems with mismatched uncertainties’, IEEE Trans. Ind. Electron., 2012, 59, (12), pp. 47924802.
    23. 23)
      • 23. Li, S., Yang, J., Chen, W.-H., et al : ‘Disturbance observer-based control: methods and applications’ (CRC Press, Inc., Boca Raton, FL, USA, 2014).
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2016.1411
Loading

Related content

content/journals/10.1049/iet-cta.2016.1411
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address