| 摘要: |
| In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems (MAS) on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local $\mathcal{L}{_2}$-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents' dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader's dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the $p$-copy internal model approach. All three proposed control protocols are verified using numerical simulations. |
| 关键词: Heterogeneous systems, output-feedback, output synchronization, small-gain theorem |
| DOI： |
|
| 基金项目:This work was supported in part by the State Key Development Program for Basic Research of China (No. 2012CB215202), in part by the National Science Foundation (No. ECCS-1405173), in part by the Office of Naval Research (No. N00014-17-1-2239). |
|
| A unified approach to output synchronization of heterogeneous multi-agent systems via L2-gain design |
| S. Zuo,Y. Song,H. Modares,F.L. Lewis,A.Davoudi |
| (School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu Sichuan 611731, China; The University of Texas at Arlington Research Institute, Fort Worth, TX 76118, U.S.A.) |
| Abstract: |
| In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems (MAS) on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local $\mathcal{L}{_2}$-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents' dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader's dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the $p$-copy internal model approach. All three proposed control protocols are verified using numerical simulations. |
| Key words: Heterogeneous systems, output-feedback, output synchronization, small-gain theorem |
