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Distributed robust group output synchronization control for heterogeneous uncertain linear multi-agent systems.

Jie Zhang1, Da-Wei Ding2, Yingying Ren2

  • 1School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China; School of Electronics and Information Engineering, Taiyuan University of Science and Technology, Taiyuan, 030024, China.

ISA Transactions
|September 4, 2022
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Summary
This summary is machine-generated.

This study addresses robust group output synchronization for uncertain multi-agent systems (MASs). Researchers developed a new framework enabling cooperative tracking for heterogeneous followers despite parameter uncertainties.

Keywords:
Group output synchronizationMulti-agent systemsOutput regulationp-copy internal model

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Area of Science:

  • Control Theory
  • Systems Engineering
  • Robotics

Background:

  • Multi-agent systems (MASs) present challenges in coordinating heterogeneous, uncertain follower dynamics.
  • Achieving distributed robust group output synchronization requires advanced control strategies.
  • Existing methods often struggle with nonidentical follower dynamics and parameter uncertainties.

Purpose of the Study:

  • To investigate the distributed robust group output synchronization problem for heterogeneous uncertain linear leader-follower MASs.
  • To establish a novel group synchronization framework using output regulation techniques for cooperative tracking with multiple targets.
  • To design controllers that ensure synchronization despite parameter uncertainties and complex communication topologies.

Main Methods:

  • A new group synchronization framework based on output regulation theory is established.
  • Distributed exosystem observers utilizing the algebraic Riccati inequality (ARI) are designed.
  • The p-copy internal model is synthesized into distributed control laws (dynamic state feedback for acyclic graphs, dynamic output feedback for general directed graphs).

Main Results:

  • The proposed framework enables distributed robust group output synchronization for heterogeneous uncertain MASs.
  • Controllers guarantee successful group synchronization under both acyclic and general directed graph communication topologies.
  • The methods effectively compensate for parameter uncertainties in follower dynamics.

Conclusions:

  • The developed distributed robust group output synchronization framework is effective for heterogeneous uncertain MASs.
  • The proposed control strategies ensure reliable cooperative tracking performance regardless of parameter uncertainties and communication topology.
  • The findings offer a robust solution for complex multi-agent coordination problems.