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Cooperative Adaptive Output Regulation for Second-Order Nonlinear Multiagent Systems With Jointly Connected Switching
IEEE Transactions on Neural Networks and Learning Systems
|January 17, 2017
Summary
This study addresses robust output regulation for nonlinear multiagent systems. Researchers developed a new control method for directed networks, enhancing system stability and consensus.
Area of Science:
- Control Systems Engineering
- Nonlinear Dynamics
- Networked Systems
Background:
- Multiagent systems present challenges in robust output regulation due to nonlinearity and uncertainty.
- Previous observer designs were limited to undirected jointly connected switching networks.
Purpose of the Study:
- To solve the cooperative global robust output regulation problem for heterogeneous second-order nonlinear uncertain multiagent systems.
- To extend adaptive distributed observer results to directed jointly connected switching networks.
- To develop a distributed state feedback control law for stabilization.
Main Methods:
- A new coordinate and input transformation was employed.
- The problem was converted to a cooperative global robust stabilization problem.
- The distributed internal model principle was utilized.
Main Results:
- Generalization of adaptive distributed observer from undirected to directed jointly connected switching networks.
- Successful conversion of the regulation problem to a stabilization problem for an augmented system.
- Development of a distributed state feedback control law to solve the stabilization problem.
Conclusions:
- The proposed method effectively solves the cooperative global robust output regulation problem for complex multiagent systems.
- The findings are applicable to leader-following consensus problems, demonstrated with Van der Pol oscillators.
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