Output regulation of linear heterogeneous multi-agent systems via output and state feedback

Yaghmaie, Farnaz Adib; Lewis, Frank L.; Su, Rong

doi:10.1016/j.automatica.2016.01.040

Cited by 107 publications

(87 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This problem has been also studied in [16], where the agents communicate their states or the states of their dynamic compensators. In this paper we assume that the agents communicate their outputs only and we transform the problem into another problem called "Cooperative Output Synchronization problem of Linear Heterogeneous Multiagent Systems", whose solutions have been well obtained in our previous work [4], [7] and can be directly translated into solution for our bipartite output synchronization problem.…”

Section: Bipartite Output Synchronization Problemmentioning

confidence: 99%

“…Problem 2: Cooperative Output Synchronization Problem via Explicit Output-Feedback-Consider a group of N + 1 linear heterogeneous agents defined by (8)(9) and (4)(5). Assume that the agents communicate their outputs (9) over an unsigned graphḠ u = (V ,Ē, |Ē s |).…”

Section: Bipartite Output Synchronization Problemmentioning

confidence: 99%

“…Since the controllers u i andū i share the same parameters (K yi , K zi , G 1i , G 2i ), one can use the available results for designing the controller parameters for Problem 2 to solve Problem 1. According to [4], we consider the following assumptions which are necessary for the existence of a controller in the form of (11) for Problem 2.…”

Section: Local Controller Design For Bipartite Output Synchronizamentioning

confidence: 99%

“…Proof: According to Theorem 1 if the controller parameters (K yi , K zi , G 1i , G 2i ) are designed such thatū i in (11) solves Problem 2 over the communication graph G s = (V ,Ē, |Ē s |), the same parameters in the control signal u i in (6) solves Problem 1 over the communication graph G s = (V ,Ē,Ē s ). The proof of remaining follows from Theorems 1 and 2 of [4] that solve the cooperative output regulation problem via output feedback over an unsigned graph.…”

Section: Assumptionmentioning

confidence: 99%

“…graphs with nonnegative edges) has been widely studied in the past two decades [1]. In the study of the consensus, an unsigned graph represents the interaction of cooperating agents trying to reach an agreement about a set of variables like their states [2], [3] or their outputs [4], [5], [6], [7].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Bipartite output synchronization of linear heterogeneous multi-agent systems via output feedback

Yaghmaie

Lewis

2016

2016 American Control Conference (ACC)

Self Cite

View full text Add to dashboard Cite

In this paper we investigate bipartite output synchronization of a group of linear heterogeneous agents communicating their outputs over a signed graph. Our multiagent system contains N followers and one leader and we aim to achieve bipartite output synchronization to the output of the leader. By the bipartite output synchronization, we mean output synchronization in the modulus; while the modulus is the same for all the agents, the signs could be different. Assuming that the communication graph is structurally balanced, we show that the bipartite output synchronization over the signed graph is equivalent to the classical output synchronization over an unsigned graph whose adjacency matrix is the element-wise absolute value of the adjacency matrix of the signed graph. We propose explicit output-feedback controller in this paper and illustrate our theoretical development by a simulation example.

show abstract

Section: Bipartite Output Synchronization Problemmentioning

confidence: 99%

Section: Bipartite Output Synchronization Problemmentioning

confidence: 99%

Section: Local Controller Design For Bipartite Output Synchronizamentioning

confidence: 99%

Section: Assumptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Bipartite output synchronization of linear heterogeneous multi-agent systems via output feedback

Yaghmaie

Lewis

2016

2016 American Control Conference (ACC)

Self Cite

View full text Add to dashboard Cite

show abstract

Semi‐global bipartite output consensus of heterogeneous multi‐agent systems subject to input saturation by finite‐time observer

Duan

Zhang

Wang

et al. 2019

Asian Journal of Control

View full text Add to dashboard Cite

In this paper, the semi‐global bipartite output consensus problem of heterogeneous linear multi‐agent systems is studied. Compared with related works, both cooperative interactions and antagonistic interactions between agents are considered, and the input saturation on each follower is taken into account. First, two distributed finite‐time observers are designed to recover the leader's state. Particularly, the setting time can be independent of any initial states. Due to the antagonistic interactions, estimation values are the same as the leader's state in modulus but may not in sign. Then, the low‐gain feedback technique is used to develop the distributed control law for each follower. Moreover, we summarize a framework for solving the semi‐global bipartite output consensus problem of heterogeneous multi‐agent systems subject to input saturation. Finally, examples are given to illustrate the results.

show abstract

Scalable Formation of Heterogeneous Agents considering Unknown Disturbances

Djamari

2020

Asian Journal of Control

View full text Add to dashboard Cite

The problem considered in this work is formation control of linear heterogeneous Multi-Agent Systems (MASs) where the size of the formation is scalable via a scaling factor determined by a leader agent. Agents are communicating through a leader-follower time-varying network and they are subjected to an unknown disturbances. Past works on scalable formation are limited to the case of homogeneous agents under fixed communication network and without considering disturbances. The control law in this work is based on the internal model principle and the H ∞ control theory. A dynamic compensator is designed based on the regular H ∞ output feedback problem and its output is used as the feedback signal in the main control input. Meanwhile, the main control input is designed based on the internal model principle. It is shown that the effect of the disturbance to the agent's output is minimized and the tracking error satisfies H ∞ performance. The effectiveness of the proposed method is shown by numerical examples.

show abstract

Output regulation of linear heterogeneous multi-agent systems via output and state feedback

Cited by 107 publications

References 13 publications

Bipartite output synchronization of linear heterogeneous multi-agent systems via output feedback

Bipartite output synchronization of linear heterogeneous multi-agent systems via output feedback

Semi‐global bipartite output consensus of heterogeneous multi‐agent systems subject to input saturation by finite‐time observer

Scalable Formation of Heterogeneous Agents considering Unknown Disturbances

Contact Info

Product

Resources

About