9,419 research outputs found
Guaranteed-cost consensus for multiagent networks with Lipschitz nonlinear dynamics and switching topologies
Guaranteed-cost consensus for high-order nonlinear multi-agent networks with
switching topologies is investigated. By constructing a time-varying
nonsingular matrix with a specific structure, the whole dynamics of multi-agent
networks is decomposed into the consensus and disagreement parts with nonlinear
terms, which is the key challenge to be dealt with. An explicit expression of
the consensus dynamics, which contains the nonlinear term, is given and its
initial state is determined. Furthermore, by the structure property of the
time-varying nonsingular transformation matrix and the Lipschitz condition, the
impacts of the nonlinear term on the disagreement dynamics are linearized and
the gain matrix of the consensus protocol is determined on the basis of the
Riccati equation. Moreover, an approach to minimize the guaranteed cost is
given in terms of linear matrix inequalities. Finally, the numerical simulation
is shown to demonstrate the effectiveness of theoretical results.Comment: 16 page
Synchronized output regulation of nonlinear multi-agent systems
This paper considers the synchronized output regulation (SOR) problem of
nonlinear multi-agent systems with switching graph. The SOR means that all
agents regulate their outputs to synchronize on the output of a predefined
common exosystem. Each agent constructs its local exosystem with the same
dynamics as that of the common exosystem and exchanges the state information of
the local exosystem. It is shown that the SOR is solvable under the assumptions
same as that for nonlinear output regulation of a single agent, if the
switching graph satisfies the bounded interconnectivity times condition. Both
state feedback and output feedback are addressed. A numerical simulation is
made to show the efficacy of the analytic results.Comment: 20 pages, 2 figures, submitted to International Journal of Contro
Coordination of Multi-Agent Systems under Switching Topologies via Disturbance Observer Based Approach
In this paper, a leader-following coordination problem of heterogeneous
multi-agent systems is considered under switching topologies where each agent
is subject to some local (unbounded) disturbances. While these unknown
disturbances may disrupt the performance of agents, a disturbance observer
based approach is employed to estimate and reject them. Varying communication
topologies are also taken into consideration, and their byproduct difficulties
are overcome by using common Lyapunov function techniques. According to the
available information in difference cases, two disturbance observer based
protocols are proposed to solve this problem. Their effectiveness is verified
by simulations.Comment: 12 pages, 4 figures, 2 table
Robust Consensus Tracking of Heterogeneous Multi-Agent Systems under Switching Topologies
In this paper, we consider a robust consensus tracking problem of
heterogeneous multi-agent systems with time-varying interconnection topologies.
Based on common Lyapunov function and internal model techniques, both state and
output feedback control laws are derived to solve this problem. The proposed
design is robust by admitting some parameter uncertainties in the multi-agent
system.Comment: 11 pages, 4 figures, accepte
Dynamic Output Feedback Guaranteed-Cost Synchronization for Multiagent Networks with Given Cost Budgets
The current paper addresses the distributed guaranteed-cost synchronization
problems for general high-order linear multiagent networks. Existing works on
the guaranteed-cost synchronization usually require all state information of
neighboring agents and cannot give the cost budget previously. For both
leaderless and leader-following interaction topologies, the current paper
firstly proposes a dynamic output feedback synchronization protocol with
guaranteed-cost constraints, which can realize the tradeoff design between the
energy consumption and the synchronization regulation performance with the
given cost budget. Then, according to different structure features of
interaction topologies, leaderless and leader-following guaranteed-cost
synchronization analysis and design criteria are presented, respectively, and
an algorithm is proposed to deal with the impacts of nonlinear terms by using
both synchronization analysis and design criteria. Especially, an explicit
expression of the synchronization function is shown for leaderless cases, which
is independent of protocol states and the given cost budget. Finally, numerical
examples are presented to demonstrate theoretical results.Comment: 12 page
A hybrid approach for cooperative output regulation with sampled compensator
This work investigates the cooperative output regulation problem of linear
multi-agent systems with hybrid sampled data control. Due to the limited data
sensing and communication, in many practical situations, only sampled data are
available for the cooperation of multi-agent systems. To overcome this problem,
a distributed hybrid controller is presented for the cooperative output
regulation, and cooperative output regulation is achieved by well designed
state feedback law. Then it proposed a method for the designing of sampled data
controller to solve the cooperative output regulation problem with continuous
linear systems and discrete-time communication data. Finally, numerical
simulation example for cooperative tracking and a simulation example for
optimal control of micro-grids are proposed to illustrate the result of the
sampled data control law
On Distributed Internal Model Principle for Output Regulation over Time-Varying Networks of Linear Heterogeneous Agents
We study a multi-agent output regulation problem, where not all agents have
access to the exosystem's dynamics. We propose a distributed controller that
solves the problem for linear, heterogeneous, and uncertain agent dynamics as
well as time-varying directed networks. The distributed controller consists of
two parts: (1) an exosystem generator that creates a local copy of the
exosystem dynamics by using consensus protocols, and (2) a dynamic compensator
that uses (again) consensus to approach the internal model of the exosystem and
thereby achieves perfect output regulation. Our approach leverages methods from
internal model based controller synthesis, multi-agent consensus over directed
networks, and stability of time-varying linear systems; the derived result is
an adaptation of the (centralized) internal model principle to the distributed,
networked setting
Coordinated Output Regulation of Heterogeneous Linear Systems under Switching Topologies
This paper constructs a framework to describe and study the coordinated
output regulation problem for multiple heterogeneous linear systems. Each agent
is modeled as a general linear multiple-input multiple-output system with an
autonomous exosystem which represents the individual offset from the group
reference for the agent. The multi-agent system as a whole has a group
exogenous state which represents the tracking reference for the whole group.
Under the constraints that the group exogenous output is only locally available
to each agent and that the agents have only access to their neighbors'
information, we propose observer-based feedback controllers to solve the
coordinated output regulation problem using output feedback information. A
high-gain approach is used and the information interactions are allowed to be
switched over a finite set of fixed networks containing both graphs that have a
directed spanning tree and graphs that do not. The fundamental relationship
between the information interactions, the dwell time, the non-identical
dynamics of different agents, and the high-gain parameters is given.
Simulations are shown to validate the theoretical results
Cooperative Control of Linear Multi-Agent Systems via Distributed Output Regulation and Transient Synchronization
A wide range of multi-agent coordination problems including reference
tracking and disturbance rejection requirements can be formulated as a
cooperative output regulation problem. The general framework captures typical
problems such as output synchronization, leader-follower synchronization, and
many more. In the present paper, we propose a novel distributed regulator for
groups of identical and non-identical linear agents. We consider global
external signals affecting all agents and local external signals affecting only
individual agents in the group. Both signal types may contain references and
disturbances. Our main contribution is a novel coupling among the agents based
on their transient state components or estimates thereof in the output feedback
case. This coupling achieves transient synchronization in order to improve the
cooperative behavior of the group in transient phases and guarantee a desired
decay rate of the synchronization error. This leads to a cooperative reaction
of the group on local disturbances acting on individual agents. The
effectiveness of the proposed distributed regulator is illustrated by a vehicle
platooning example and a coordination example for a group of four non-identical
3-DoF helicopter models
Cooperative output regulation of multi-agent network systems with dynamic edges
This paper investigates a new class of linear multi-agent network systems, in
which nodes are coupled by dynamic edges in the sense that each edge has a
dynamic system attached as well. The outputs of the edge dynamic systems form
the external inputs of the node dynamic systems, which are termed "neighboring
inputs" representing the coupling actions between nodes. The outputs of the
node dynamic systems are the inputs of the edge dynamic systems. Several
cooperative output regulation problems are posed, including output
synchronization, output cooperation and master-slave output cooperation. Output
cooperation is specified as making the neighboring input, a weighted sum of
edge outputs, track a predefined trajectory by cooperation of node outputs.
Distributed cooperative output regulation controllers depending on local state
and neighboring inputs are presented, which are designed by combining feedback
passivity theories and the internal model principle. A simulation example on
the cooperative current control of an electrical network illustrates the
potential applications of the analytical results.Comment: 17 pages, 5 figure
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