Coordinated output regulation of multiple heterogeneous linear systems
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, 2175-2180 p.Conference paper (Refereed)
The coordinated output regulation problem for multiple heterogeneous linear systems is studied in this paper. Each agent is modeled as a linear multiple-input multiple-output (MIMO) system with an exogenous input which represents the individual tracking objective for the agent. The multi-agent system as a whole has a group exogenous input which represents the tracking objective for the whole group. Under the constraints that the group exogenous input is only locally available to each agent and that the agents have only access to their neighbors' information, we propose an observer-based feedback controller to solve the coordinated output regulation problem. A high-gain approach is introduced and the information interactions are allowed to be switching over a finite set of fixed networks containing both graphs having a spanning tree and graphs that do not. A lower bound of the high gain parameters is explicitly given. It describes a fundamental relationship between the information interactions, the dwell time, the non-identical dynamics of different agents, and the high gain parameters.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 2175-2180 p.
, IEEE Conference on Decision and Control. Proceedings, ISSN 0743-1546
MIMO systems, Multi agent systems, Nonlinear control systems, Exogenous input, Feedback controller, Fixed networks, Information interaction, Multiple-input-multiple-output systems, Observer-based, Output regulation, Output regulation problem, Linear systems
IdentifiersURN: urn:nbn:se:kth:diva-150872DOI: 10.1109/CDC.2013.6760204ISI: 000352223502082ScopusID: 2-s2.0-84902305241ISBN: 978-1-4673-5714-2OAI: oai:DiVA.org:kth-150872DiVA: diva2:745771
52nd IEEE Conference on Decision and Control, CDC 2013, 10 December 2013 through 13 December 2013, Florence, Italy
QC 201409112014-09-112014-09-112015-12-08Bibliographically approved