IEEE Trans Cybern. 2017 Aug;47(8):2099-2109. doi: 10.1109/TCYB.2016.2641394. Epub 2017 Jan 4.
This paper studies the output containment control of linear heterogeneous multi-agent systems, where the system dynamics and even the state dimensions can generally be different. Since the states can have different dimensions, standard results from state containment control do not apply. Therefore, the control objective is to guarantee the convergence of the output of each follower to the dynamic convex hull spanned by the outputs of leaders. This can be achieved by making certain output containment errors go to zero asymptotically. Based on this formulation, two different control protocols, namely, full-state feedback and static output-feedback, are designed based on internal model principles. Sufficient local conditions for the existence of the proposed control protocols are developed in terms of stabilizing the local followers' dynamics and satisfying a certain H∞ criterion. Unified design procedures to solve the proposed two control protocols are presented by formulation and solution of certain local state-feedback and static output-feedback problems, respectively. Numerical simulations are given to validate the proposed control protocols.
本文研究了线性异质多智能体系统的输出包含控制，其中系统动态甚至状态维数通常可以不同。由于状态可以具有不同的维度，因此标准的状态包含控制结果并不适用。因此，控制目标是保证每个跟随者的输出收敛到领导者输出所张成的动态凸包。这可以通过使某些输出包含误差渐近地趋于零来实现。基于这种表述，根据内部模型原理，设计了两种不同的控制协议，即全状态反馈和静态输出反馈。根据稳定局部跟随者动态和满足一定 H∞准则的条件，提出了所提出控制协议存在的充分局部条件。通过分别求解一定的局部状态反馈和静态输出反馈问题，提出了求解所提出的两种控制协议的统一设计程序。数值模拟验证了所提出的控制协议。
