Output Consensus of Heterogeneous Multiagent Systems: A Distributed Observer-Based Approach

Chen, Kairui; Wang, Junwei; Zhao, Zhijia; Lai, Guanyu; Lyu, Yi

doi:10.1109/tsmc.2020.2998925

Cited by 18 publications

(16 citation statements)

References 34 publications

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“…We next compare the proposed reference generator (12a) with the standard reference generator (4a) in [13]- [16] under the same initial conditions. As discussed in Section II-B, the feedforward term Γ i w i generated by the standard reference generator (4a) can exceed the saturation level as shown in Fig.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…The necessary and sufficient conditions for the consensus of the heterogeneous agents can be summarized as the internal model principle for synchronization, which implies the existence of a common model in the agents with local controllers [13]. Then, applying the output regulation approach, the dynamic consensus algorithms were proposed in [13]- [16]. Moreover, in [17], [18], the quasisynchronization problem has been studied since it is difficult to guarantee the existence of the solution given by the internal model principle.…”

Section: Introductionmentioning

confidence: 99%

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Semi-Global Leaderless Output Consensus of Heterogeneous Multi-Agent Systems With Input Saturations

Lim

2022

IEEE Access

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This paper studies the semi-global leaderless output consensus problem for heterogeneous multi-agent systems with input saturations. To solve the consensus problem under the input saturations, the consensus trajectory should be bounded such that the control inputs of all agents are not saturated. However, generating a bounded trajectory satisfying this condition is not an easy problem. Accordingly, we construct the modified reference generator to generate the bounded trajectory for any bounded initial states, and two types of distributed controllers depending on the available information are proposed to track the generated trajectory. Specifically, we construct the distributed controllers using the state feedback and the output feedback based on the output regulation approach, respectively. Then, utilizing the low gain method, we show the existence of the solution for the semi-global output consensus problem. Finally, we provide numerical examples to demonstrate the theoretical results.INDEX TERMS Distributed control, heterogeneous agent, multi-agent system, saturation, semi-global consensus.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Semi-Global Leaderless Output Consensus of Heterogeneous Multi-Agent Systems With Input Saturations

Lim

2022

IEEE Access

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“…This is hardly the case in practice, where sensing restrictions limit the number of available measurements. One of the solutions explored in literature to solve the state feedback problem is an observer based design to estimate the unavailable states, 14,15 but with a drawback of nearly doubling the order of the system to be handled. This forms the major motivation to design an output feedback controller (which is what we consider in this article).…”

Section: Introductionmentioning

confidence: 99%

H∞ performance of multi‐agent consensus with output feedback and saturated input

Aggarwal

Goyal

Ghosh

2022

Intl J Robust & Nonlinear

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This article addresses the distributed consensus problem for linear multi-agent systems (MASs) with undirected connected communication topology and saturation limits on the controller input. The networked system has been modeled using a multigraph consisting of directed self-loops. We first represent the saturated control scheme using a polytopic formulation, for appropriate consideration of the control input. Subsequently, we derive sufficient conditions for design of a robust static output feedback controller to achieve consensus of the MAS. The synthesis problem is formulated in the form of linear matrix inequalities for H ∞ controller design. Next, the leader-follower topology is considered, with a single leader, for which it is shown that the same controller design technique applies, under a multigraph with single self-loop. Finally, we validate the theoretical results using numerical examples and further simulate the designed control method on a network of spring-mass systems.

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“…However, the introduction of an augmented state in each local observer results in the expanded dimensions of the augmented observer, which could induce a heavy computational burden in implementing their proposed schemes. For continuous-time linear time-invariant systems, the networked Luenberger observers proposed in [26][27][28][29] provided a feasible solution. e particularity of their formulations is that the effectiveness of the distributed observers can be verified by examining the observability of the system and connectivity of the communication network separately.…”

Section: Introductionmentioning

confidence: 99%

Distributed Observer Design for Linear Systems under Time-Varying Communication Delay

et al. 2021

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The paper investigates the state estimation problem of general continuous-time linear systems with the consideration of time-varying communication delay. A solution is proposed in terms of the networked distributed observer, which consists of multiple local observers. Each local observer relies on only part of the system output and exchanges information with neighbors through undirected links modeled by a prespecified communication graph. A simple approach for computing observer parameters is presented by solving a parametric algebraic Riccati equation. Furthermore, by the Lyapunov–Krasovskii stability theorem, an upper bound of the delay could be calculated explicitly and together with the conditions of joint observability and connectivity of the communication graph; the resulting distributed observers work coordinately to achieve an asymptotic estimate of the full plant state. An illustrative example is provided to confirm the analytical results.

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Output Consensus of Heterogeneous Multiagent Systems: A Distributed Observer-Based Approach

Cited by 18 publications

References 34 publications

Semi-Global Leaderless Output Consensus of Heterogeneous Multi-Agent Systems With Input Saturations

Semi-Global Leaderless Output Consensus of Heterogeneous Multi-Agent Systems With Input Saturations

H∞ performance of multi‐agent consensus with output feedback and saturated input

Distributed Observer Design for Linear Systems under Time-Varying Communication Delay

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