Zhang Hao, Chen Jie, Wang Zhuping, Fu Chengcheng, Song Shourui
IEEE Trans Cybern. 2022 Mar;52(3):1911-1923. doi: 10.1109/TCYB.2020.2991761. Epub 2022 Mar 11.
In this article, the cooperative output regulation problem of heterogeneous multiagent systems has been investigated. It is assumed that only a few agents could know the system matrix of the exosystem and no agent knows the topological information. Under these conditions, a novel distributed online algorithm is proposed to estimate the information relevant to the topology. Based on this algorithm, a distributed event-triggered adaptive observer is designed such that each agent can observe the exosystem. It is theoretically shown that the proposed distributed controller will make the multiagent system achieve cooperative output regulation asymptotically. Finally, a simulation is presented to show the effectiveness of the result.
本文研究了异构多智能体系统的协同输出调节问题。假设只有少数智能体能够知道外系统的系统矩阵，且没有智能体知道拓扑信息。在此条件下，提出了一种新颖的分布式在线算法来估计与拓扑相关的信息。基于该算法，设计了一种分布式事件触发自适应观测器，使得每个智能体都能观测外系统。理论分析表明，所提出的分布式控制器将使多智能体系统渐近地实现协同输出调节。最后，通过仿真验证了结果的有效性。
