A unified approach to output synchronization of heterogeneous multi-agent systems via L2-gain design
Shan ZUO
Yongduan SONG
Hamidreza MODARES
Frank L.LEWIS
Ali DAVOUDI
摘要：In this paper,a unified design procedure is given for output synchronization of heterogeneous multi-agent systems (MAS) on communication graph topologies,using relative output measurements from neighbors.Three different control protocols,namely,full-state feedback,static output-feedback,and dynamic output-feedback,are designed for output synchronization.It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem.Sufficient conditions are developed in terms of stabilizing the local agents' dynamics,satisfying a certain small-gain criterion,and solving the output regulator equations.Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied.The proposed control protocols require only one copy of the leader's dynamics in the compensator,regardless of the dimensions of the outputs.This results in lower-dimensional compensators for systems with high-order outputs,compared to thep-copy internal model approach.All three proposed control protocols are verified using numerical simulations.
机标关键词：sufficient conditionsunified designnumerical simulations
资助基金：This work was supported in part by the State Key Development Program for Basic Research of China(2012CB215202)in part by the National Science Foundation(ECCS-1405173)in part by the Office of Naval Research(N00014-17-1-2239)
论文发表日期：2017-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：14( 340-353 )
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