Cooperative Output Regulation for Multi-Agent Systems with EDMD Leader Approximation

被引：0
|
作者：
Galarza-Jimenez, F. [1 ]
Tellez-Castro, D. [1 ]
Sofrony, J. [1 ]
Mojica-Nava, E. [1 ]
机构：
[1] Univ Nacl Colombia, Bogota, Colombia
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 20期
关键词：
Output synchronization; distributed observer; unknown leader; EDMD; KOOPMAN OPERATOR;
D O I：
10.1016/j.ifacol.2019.12.132
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a distributed output regulation algorithm for the leader-follower heterogeneous multi-agent system with unknown leader dynamics. The unknown nonlinear dynamics of the leader agent are reconstructed based on a data-driven transformation that lifts the nonlinear dynamics to a linear space that approximates it. An adaptive distributed observer algorithm is designed to estimate the leader states and its linear model approximation for each follower agent, since it is considered that the leader communicates only to a subset of followers. To design the output synchronization protocol, a local state feedback control is developed for each agent. The proposed algorithm is validated through simulation studies. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：91 / 96
页数：6
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