| Autor: |
Luka Martinovic, Zarko Zecevic, Bozo Krstajic |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 11, Pp 81419-81433 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2023.3300806 |
| Popis: |
In this paper, the cooperative output regulation (COR) of heterogeneous linear multi-agent systems is studied. We propose a novel distributed observer approach that ensures synchronization of agents’ outputs to a reference trajectory generated by a leader, while rejecting disturbance. A unified framework based on tools from ${\mathcal {H}_{\infty} }$ theory is established which allows treatment of both networks of non-introspective and networks of introspective agents. The proposed protocols do not require exchange of the controller states, which reduces or completely eliminates communication costs. A sufficient local stability condition is derived and a novel controller gain design method is provided to satisfy that condition. It is proven that the solvability of the COR problem can be guaranteed in advance for: i) introspective agents with arbitrary dynamics, ii) non-introspective agents with stable dynamics, under the assumption that the poles of exosystems lie on the imaginary axis. The effectiveness of the proposed approach is verified through numerical simulations. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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