Semi-global weighted output average tracking of discrete-time heterogeneous multi-agent systems subject to input saturation and external disturbances

作     者：Qilin Song Yuanlong Li Yijing Xie Zongli Lin Qilin Song;Yuanlong Li;Yijing Xie;Zongli Lin

作者机构：Department of AutomationShanghai Jiao Tong UniversityShanghai 200240China Department of Electrical EngineeringUniversity of Texas at ArlingtonArlington 76019TXUSA Charles L.Brown Department of Electrical and Computer EngineeringUniversity of VirginiaCharlottesville 22904-4743VAUSA 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2023年第21卷第3期

页      面：315-333页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 0811[工学-控制科学与工程] 

基　　金：supported in part by the National Natural Science Foundation of China(Nos.62022055 61973215). 

主　　题：Distributed average tracking Input saturation Low gain feedback Heterogeneous multi-agent systems Output regulation 

摘      要：In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.