Design of Cooperative Output Regulators for Heterogeneous Uncertain Nonlinear Multiagent Systems

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Multiagent Systems

Background:

• Cooperative output regulation (COR) in multiagent systems is complex due to heterogeneous, uncertain nonlinear dynamics and inter-agent coupling.
• Existing methods struggle with non-identical control directions and unknown external systems.

Purpose of the Study:

• To develop an adaptive internal model-based distributed regulator for nonlinear multiagent systems.
• To achieve cooperative output regulation to a common reference despite disturbances.

Main Methods:

• Design of an adaptive internal model-based distributed regulator.
• Consideration of heterogeneous agents with nonlinear strict-feedback forms, non-identical unknown control directions, and unknown linear exosystems.
• Analysis of nonlinear COR problem for demonstrating regulator capabilities.

Main Results:

• Successfully regulated outputs of a network of nonlinear agents to a reference.
• Demonstrated the capability and flexibility of the proposed output regulator in addressing nonlinear COR.
• Validated through simulation results for Lorenz systems synchronization and cooperative control of multiple ships.

Conclusions:

• The proposed adaptive internal model-based distributed regulator effectively handles complex nonlinear multiagent systems.
• The method provides a robust solution for cooperative output regulation under uncertainty.
• The approach is versatile, applicable to diverse systems like Lorenz oscillators and marine vehicles.