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| Received:September 27, 2011Revised:March 27, 2012 |
| 基金项目:This work was supported by the National Natural Science Foundation of China (No. 61104149), and the Zhejiang Provincial Natural Science Found (No. Y1090339). |
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| Synchronized output regulation of switching networks based on synchronization observer |
| Teng JIANG,Yanjun LI |
| (Key Laboratory of Intelligent System, Zhejiang University City College; Department of Control Science and Engineering, Zhejiang University) |
| Abstract: |
| This paper studies the synchronized output regulation (SOR) problem of networked dynamic systems with switching topology that is uniformly connected and leader-rooted. In these networked systems, the tracked signal or the rejected disturbance is generated by the same exosystem, and however, the state of the exosystem is only available for leader nodes. First, a synchronization observer of the exosystem is proposed in this paper to overcome the difficulty caused by the unavailable state of the exosystem for follower nodes with directed switching information flow. It is shown that the observer state will synchronize to the state of the exosystem. Then, two feedback controllers based on decentralized dynamic error and state are presented to solve this SOR problem. Furthermore, the main idea in this paper will provide a promising way for realizing the multirobot systems’ tracking and formation requirement. Numerical simulation results are presented to demonstrate the effectiveness of the theoretical results. |
| Key words: Synchronized output regulation Synchronization observer Switching topology Networked systems |
