Semi-global weighted output average tracking of discrete-time heterogeneous multi-agent systems subject to input saturation and external disturbances
Qilin Song1
Yuanlong Li1
Yijing Xie2
Zongli Lin3
1.Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China2.Department of Electrical Engineering,University of Texas at Arlington,Arlington 76019,TX,USA3.Charles L.Brown Department of Electrical and Computer Engineering,University of Virginia,Charlottesville 22904-4743,VA,USA
摘要：In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.
机标关键词：multi-agentsaturationaveragesubjectsystemsinputdiscrete-timedisturbances
论文发表日期：2023-08-05
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：19( 315-333 )
英文信息