同步(交流)
控制理论(社会学)
网络拓扑
多智能体系统
代数图论
有向无环图
计算机科学
观察员(物理)
图形
协议(科学)
有向图
分散系统
图论
控制器(灌溉)
拓扑(电路)
数学
控制(管理)
理论计算机科学
算法
计算机网络
组合数学
人工智能
农学
生物
医学
物理
替代医学
量子力学
病理
作者
Jie Zhang,Dawei Ding,Yingying Ren,Xinmiao Sun
标识
DOI:10.1016/j.isatra.2022.08.010
摘要
This paper investigates the distributed robust group output synchronization problem of heterogeneous uncertain linear leader-follower multi-agent systems (MASs), whose followers have nonidentical and parameter uncertain dynamics. To achieve cooperative tracking with multiple targets, a new group synchronization framework based upon the output regulation technique is established. In the underlying directed communication topology, all nonidentical followers are divided into several subgroups. Meanwhile, each subgroup has its output tracking objective generated by an autonomous exosystem which is seen as the leader of each subgroup. Since not all followers can access their exosystems directly, the distributed exosystem observer based on the algebraic Riccati inequality (ARI) is designed to obtain the information of exosystems. Moreover, to compensate for parameter uncertainties for different group topologies, the p-copy internal model is synthesized into distributed control laws, i.e., dynamic state feedback control protocol under an acyclic directed graph and dynamic output feedback control protocol under a general directed graph. It is shown that group synchronization can be respectively achieved with these controllers under acyclic and general partitions regardless of parameter uncertainties. Finally, some examples are provided to verify the validity of the analytic results.
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