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Cooperative Output Regulation of Heterogeneous Linear Multi-Agent Networks via ${H_{\infty }}$ Performance Allocation.
- Source :
- IEEE Transactions on Automatic Control; Feb2019, Vol. 64 Issue 2, p683-696, 14p
- Publication Year :
- 2019
-
Abstract
- The cooperative output regulation (COR) problem of heterogeneous linear multi-agent networks [multi-agent systems (MASs)] is studied in the paper. Agents are allowed to be inherently heterogeneous linear time-invariant systems and the communication graph is not restricted to be acyclic. Both state- and output-feedback control protocols that make use of neighbors’ output information are considered. In light of robust control theory and robust output regulation theory, small-gain solvability conditions with closed-loop pole specifications are first derived. Then, an ${H_{\infty }}$ performance allocation approach is proposed for protocol design, where algorithms for optimizing graph weights and designing protocol gains are constructed, respectively. Both continuous-time (CT) and discrete-time MASs are investigated in a unified framework. In addition, solvability of the COR problem is further discussed from the graph, agent, and exosystem aspects, respectively. It is proved that the proposed approach pre-explicitly ensures the solvability of the COR problem for either of the three cases: the graph is acyclic; for CT MASs, agents are minimum-phase and right-invertible; and for CT MASs, the poles of the exosystem have zero real part and agents are right-invertible. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 64
- Issue :
- 2
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 134407100
- Full Text :
- https://doi.org/10.1109/TAC.2018.2838048