Cooperative preview tracking problem of discrete-time linear multi-agent systems: A distributed output regulation approach

被引：24
|
作者：
Lu, Yanrong [1 ]
Liao, Fucheng [2 ]
Liu, Huiyang [2 ]
Usman [2 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China
[2] Univ Sci & Technol Beijing, Sch Math & Phys, Beijing, Peoples R China
来源：
ISA TRANSACTIONS | 2019年 / 85卷
基金：
国家重点研发计划;
关键词：
Multi-agent systems; Cooperative tracking; Preview control; Output regulation; Distributed internal model; DESIGN; CONTROLLER; INVERSION;
D O I：
10.1016/j.isatra.2018.08.020
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We are concerned with the cooperative preview tracking problem of discrete-time linear multi-agent systems under the fixed directed acyclic communication topology. First, by introducing a preview-information-based auxiliary system and a type of distributed internal model, we establish an augmented system for each follower and formulate the cooperative preview tracking problem as a distributed output regulation (DOR) problem. Then, from the solvability of the DOR problem and the stabilizability of the augmented system, we present the sufficient conditions that guarantee the achievement of the cooperative tracking consensus. With this procedure, we finally propose a distributed dynamic feedback control law for the original problem with virtual regulated output integral and preview feedforward compensation. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：33 / 48
页数：16
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