IEEE Trans Cybern. 2015 Dec;45(12):2868-79. doi: 10.1109/TCYB.2015.2388538. Epub 2015 Jan 22.
This paper investigates the output consensus problem of heterogeneous discrete-time multiagent systems with individual agents subject to structural uncertainties and different disturbances. A novel distributed control law based on internal reference models is first presented for output consensus of heterogeneous discrete-time multiagent systems without structural uncertainties, where internal reference models embedded in controllers are designed with the objective of reducing communication costs. Then based on the distributed internal reference models and the well-known internal model principle, a distributed control law is further presented for output consensus of heterogeneous discrete-time multiagent systems with structural uncertainties. It is shown in both cases that the consensus trajectory of the internal reference models determines the output trajectories of agents. Finally, numerical simulation results are provided to illustrate the effectiveness of the proposed control schemes.
本文研究了个体具有结构不确定性和不同干扰的异构离散时间多智能体系统的输出一致性问题。首先，针对无结构不确定性的异构离散时间多智能体系统的输出一致性问题，提出了一种基于内部参考模型的新型分布式控制律，其中控制器中嵌入了内部参考模型，旨在降低通信成本。然后，基于分布式内部参考模型和著名的内部模型原理，进一步提出了具有结构不确定性的异构离散时间多智能体系统的输出一致性分布式控制律。在这两种情况下，均表明内部参考模型的一致轨迹决定了智能体的输出轨迹。最后，提供了数值仿真结果以验证所提出控制方案的有效性。
