Zhang Jie, Ding Da-Wei, Ren Yingying, Sun Xinmiao
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China; School of Electronics and Information Engineering, Taiyuan University of Science and Technology, Taiyuan, 030024, China.
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China; Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, Beijing 100083, China.
ISA Trans. 2023 Mar;134:108-121. doi: 10.1016/j.isatra.2022.08.010. Epub 2022 Aug 22.
This paper investigates the distributed robust group output synchronization problem of heterogeneous uncertain linear leader-follower multi-agent systems (MASs), whose followers have nonidentical and parameter uncertain dynamics. To achieve cooperative tracking with multiple targets, a new group synchronization framework based upon the output regulation technique is established. In the underlying directed communication topology, all nonidentical followers are divided into several subgroups. Meanwhile, each subgroup has its output tracking objective generated by an autonomous exosystem which is seen as the leader of each subgroup. Since not all followers can access their exosystems directly, the distributed exosystem observer based on the algebraic Riccati inequality (ARI) is designed to obtain the information of exosystems. Moreover, to compensate for parameter uncertainties for different group topologies, the p-copy internal model is synthesized into distributed control laws, i.e., dynamic state feedback control protocol under an acyclic directed graph and dynamic output feedback control protocol under a general directed graph. It is shown that group synchronization can be respectively achieved with these controllers under acyclic and general partitions regardless of parameter uncertainties. Finally, some examples are provided to verify the validity of the analytic results.
本文研究了异构不确定线性主从多智能体系统（MASs）的分布式鲁棒群输出同步问题，其从智能体具有非相同且参数不确定的动态特性。为实现对多个目标的协同跟踪，基于输出调节技术建立了一种新的群同步框架。在底层有向通信拓扑中，所有非相同的从智能体被划分为若干个子群。同时，每个子群都有其由自治外系统生成的输出跟踪目标，该外系统被视为每个子群的领导者。由于并非所有从智能体都能直接访问其外系统，设计了基于代数黎卡提不等式（ARI）的分布式外系统观测器来获取外系统的信息。此外，为补偿不同群拓扑的参数不确定性，将p - 拷贝内模合成到分布式控制律中，即在无环有向图下的动态状态反馈控制协议和一般有向图下的动态输出反馈控制协议。结果表明，无论参数不确定性如何，在无环和一般划分下使用这些控制器都能分别实现群同步。最后，给出了一些例子来验证分析结果的有效性。
