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Output Containment Control of Linear Heterogeneous Multi-Agent Systems Using Internal Model Principle.

Shan Zuo, Yongduan Song, Frank L Lewis

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    |January 7, 2017
    PubMed
    Summary

    This study addresses output containment control for heterogeneous multi-agent systems with varying state dimensions. Novel control protocols ensure follower outputs converge to the leader

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    Area of Science:

    • Control Theory
    • Systems Engineering
    • Robotics

    Background:

    • Multi-agent systems often have diverse dynamics and state dimensions.
    • Standard control methods are insufficient for heterogeneous systems.
    • Output containment is crucial for coordinated behavior in such systems.

    Purpose of the Study:

    • To develop output containment control for linear heterogeneous multi-agent systems.
    • To address challenges posed by differing state dimensions.
    • To ensure follower outputs converge to the dynamic convex hull of leader outputs.

    Main Methods:

    • Design of full-state feedback and static output-feedback control protocols.
    • Utilizing internal model principles for control design.
    • Establishing sufficient local conditions based on stability and H∞ criteria.

    Main Results:

    • Two distinct control protocols are proposed for output containment.
    • Sufficient local conditions for protocol existence are derived.
    • Unified design procedures are presented for both protocols.

    Conclusions:

    • The proposed control protocols effectively achieve output containment in heterogeneous multi-agent systems.
    • The methods are validated through numerical simulations.
    • This work advances control strategies for complex, diverse agent networks.