Distributed adaptive controllers for cooperative output regulation of heterogeneous agents over directed graphs

• Zhongkui Li ^[1] ; Michael Z.Q. Chen ^[2] ; Zhengtao Ding ^[3]
  1. [1] Peking University

     Peking University

     China

     
  2. [2] University of Hong Kong

     University of Hong Kong

     RAE de Hong Kong (China)

     
  3. [3] University of Manchester,United Kingdon

  Mostrar afiliaciones +
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 68, 2016, págs. 179-183
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems. Both the cases with nominal and uncertain linear subsystems are studied. For the case with nominal linear subsystems, a distributed adaptive observer-based controller is designed, where the distributed adaptive observer is implemented for the subsystems to estimate the exogenous signal. For the case with uncertain linear subsystems, the proposed distributed observer and the internal model principle are combined to solve the robust cooperative output regulation problem. Compared with the existing works, one main contribution of this paper is that the proposed control schemes can be designed and implemented by each subsystem in a fully distributed fashion for a class of directed graphs.