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Distributed Event-Triggered Control for Cooperative Output Regulation of Multiagent Systems With an Online Estimation
IEEE Transactions on Cybernetics
|June 9, 2020
Summary
This study addresses cooperative output regulation in multiagent systems. A novel distributed algorithm enables agents to estimate unknown system topology for achieving coordinated control.
Area of Science:
- Control Systems Engineering
- Distributed Systems
- Robotics
Background:
- Investigates cooperative output regulation for heterogeneous multiagent systems.
- Addresses scenarios with limited knowledge of system matrices and unknown network topology.
Purpose of the Study:
- To develop a distributed online algorithm for estimating topology-relevant information.
- To design a distributed event-triggered adaptive observer for exosystem observation.
- To achieve asymptotic cooperative output regulation in multiagent systems.
Main Methods:
- A novel distributed online algorithm to estimate unknown topological information.
- A distributed event-triggered adaptive observer for individual agent observation of the exosystem.
- Theoretical analysis to prove asymptotic cooperative output regulation.
Main Results:
- Successfully estimated topology-relevant information in a distributed manner.
- Designed an adaptive observer enabling agents to observe the exosystem.
- Theoretically demonstrated asymptotic cooperative output regulation.
Conclusions:
- The proposed distributed controller effectively achieves cooperative output regulation.
- The developed algorithm and observer are validated through simulation.
- Offers a robust solution for cooperative control in systems with partial information.
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