A unified approach to output synchronization of heterogeneous multi-agent systems via L2-gain design
A unified approach to output synchronization of heterogeneous multi-agent systems via L2-gain design作者机构：School of Automation Engineering University of Electronic Science and Technology of China Chengdu Sichuan China The University of Texas at Arlington Research Institute Fort Worth U.S.A.
出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)
年 卷 期：2017年第15卷第4期
页 面：340-353页
核心收录：
学科分类：0820[工学-石油与天然气工程] 02[经济学] 0201[经济学-理论经济学] 020101[经济学-政治经济学] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程]
基 金：supported in part by the State Key Development Program for Basic Research of China in part by the National Science Foundation in part by the Office of Naval Research
主 题：Heterogeneous systems output-feedback output synchronization small-gain theorem
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 L2-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.
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