Adaptive Observer-Based Output Regulation of Multiagent Systems With Communication Constraints

Area of Science:

• Control Theory
• Systems Engineering
• Robotics

Background:

• Heterogeneous linear multiagent systems (MASs) present challenges in cooperative control.
• Existing methods often assume full knowledge of system matrices and reliable communication, limiting practical applications.
• Communication constraints like asynchronous exchange, time-varying delays, and data loss are prevalent in real-world MASs.

Purpose of the Study:

• To resolve the cooperative output regulation problem (ORP) for heterogeneous linear MASs without assuming agents know the external system matrix.
• To develop novel adaptive control protocols that accommodate communication constraints.
• To validate the proposed protocols through simulations.

Main Methods:

• Design of two novel adaptive protocols using state feedback and measurement output feedback.
• Development of protocols based on mild assumptions on the communication digraph.
• Incorporation of strategies to handle asynchronous and snatchy information exchange, unknown time-varying delays, and probable information losses.

Main Results:

• Successful resolution of the cooperative output regulation problem (ORP) under significant communication constraints.
• Demonstration of the effectiveness of the proposed adaptive protocols in simulations.
• Validation of robustness against unknown delays and information losses.

Conclusions:

• The presented adaptive protocols effectively solve the ORP for heterogeneous linear MASs with communication limitations.
• The findings offer a more practical approach to cooperative control in complex multiagent environments.
• The study contributes to the advancement of robust control strategies for networked systems.