Kybernetika 47 no. 5, 755-772, 2011

Robust coordination control of switching multi-agent systems via output regulation approach

Xiaoli Wang and Fengling Han

Abstract:

In this paper, the distributed output regulation problem of uncertain multi-agent systems with switching interconnection topologies is considered. All the agents will track or reject the signals generated by an exosystem (or an active leader). A systematic distributed design approach is proposed to handle output regulation via dynamic output feedback with the help of canonical internal model. With common solutions of regulator equations and Lyapunov functions, the distributed robust output regulation with switching interconnection topology is solved.

Keywords:

multi-agent systems, distributed output regulation, switching topology, canonical internal model

Classification:

93A14, 93C10

paper.pdf

References:

  1. A. Isidori, L. Marconi and A. Serrani: Robust Autonomous Guidance: An Internal Model-based Approach. Springer Verlag, London 2003.   CrossRef
  2. B. Francis and W. Wonham: The internal model principle of control theory. Automatica, 12 (1976), 457-465.   CrossRef
  3. Z. Ding: Decentralized output regulation of large scale nonlinear systems with delay. Kybernetika {\mi 45} (2009), 33-48.   CrossRef
  4. V. Gazi: Formation control of a multi-agent system using nonlinear servomechanism. Internat. J. Control 78 (2005), 554-565.   CrossRef
  5. C. Godsil and G. Royle: Algebraic Graph Theory. Springer-Verlag, New York 2001.   CrossRef
  6. Y. Hong, J. Hu and L. Gao: Tracking control for multi-agent consensus with an active leader and variable topology. Automatica {\mi42} (2006), 1177-1182.   CrossRef
  7. Y. Hong, L. Gao, D. Cheng and J. Hu: Lyapunov-based approach to multi-agent systems with switching jointly connected interconnection. IEEE Trans. Automat. Control {\mi52} (2007), 943-948.   CrossRef
  8. Y. Hong, G. Chen and L. Bushnell: Distributed observers design for leader-following control of multi-agent networks. Automatica {\mi44} (2008), 846-850.   CrossRef
  9. R. A. Horn and C. R. Johnson: Matrix Theory. Cambridge University Press, 1986.   CrossRef
  10. J. Hu and G. Feng: Distributed tracking control of leader-follower multi-agent systems under noisy measurement. Automatica 46 (2010), 1382-1381.   CrossRef
  11. J. Huang: Nonlinear Output Regulation: Theory \et Applications. SIAM, Phildelphia 2004.   CrossRef
  12. J. Huang: Comments on synchronized output regulation of networked linear systems. IEEE Trans. Automat. Control {\mi56} (2011), 630-632.   CrossRef
  13. J. Huang and Z. Chen: A general framework for tackling the output regulation problem. IEEE Trans. Automat. Control {\mi 49} (2004), 2203-2218.   CrossRef
  14. A. Jadbabaie, J. Lin and A. Morse: Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans. Automat. Control 48 (2003), 998-1001.   CrossRef
  15. V. O. Nikiforov: Adaptive nonlinear tracking with complete compensation of unknown disturbances. European J. Control 4 (1998), 132-139.   CrossRef
  16. R. Olfati-Saber, J. Fax and R. Murray: Consensus and cooperation in networked multi-agent systems. Proc. IEEE 95 (2007), 215-233.   CrossRef
  17. W. Ren: Multi-vehicle consensus with a time-varying reference state. System Control Lett. 56 (2007), 474-483.   CrossRef
  18. W. Ren and R. W. Beard: Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans. Automat. Control 50 (2005), 655-661.   CrossRef
  19. X. Wang, Y. Hong, H. Jie and Z. Jiang: A distributed control approach to a robust output regulation problem for multi-agent linear systems. IEEE Trans. Automat. Control 55 (2010), 2891-2895.   CrossRef
  20. X. Wang and Y. Hong: Parametrization and geometric analysis of coordination controllers for multi-agent systems. Kybernetika 45 (2009), 785-800.   CrossRef
  21. W. M. Wonham: Linear Multivariable Contol. Springer-Verlag, New York 1985.   CrossRef