期刊
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
卷 56, 期 3, 页码 2074-2094出版社
SIAM PUBLICATIONS
DOI: 10.1137/17M1121068
关键词
output regulation; multi-agent systems; internal model principle; internal stability; tracking
资金
- National Natural Science Foundation of China [61403316]
- NASA/LEQSF(2013-15)-Phase3-06 in the U.S. [NNX13AD29A]
- NSERC in Canada [RGPIN-2014-05235]
- 111 Project in China [B12018]
We investigate cooperative output regulation (COR) for heterogeneous multi-agent systems (MASs), aimed at synchronizing the outputs of all agents to the desired reference trajectory in the presence of the disturbance, which are both deterministic and generated from an exosystem. First we study the single-agent problem, which coincides with the output regulation under unity output feedback. A new state-space solution, applicable to multi-input/multi-output systems, is derived and presented. The COR is then studied for heterogeneous MASs based on the relative output measurements, assuming that the reference trajectory is transmitted to one or more agents. We show how the feedback MAS can be designed to achieve both the internal stability and COR when the feedback graphs contain directed spanning trees. A simulation example is worked out to illustrate the proposed design method.
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