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

Zhongkui Li, Michael Z.Q. Chen, Z. Ding

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    Abstract

    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.
    Original languageEnglish
    Pages (from-to)179-183
    Number of pages5
    JournalAutomatica
    Volume68
    DOIs
    Publication statusPublished - Jun 2016

    Keywords

    • Networked control systems; Cooperative control; Output regulation; Consensus; Directed graph

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