Observer-based output consensus of a class of heterogeneous multi-agent systems with unmatched disturbances

Abstract In this paper, the output consensus of a class of linear heterogeneous multi-agent systems with unmatched disturbances is considered. Firstly, based on the relative output information among neighboring agents, we propose an asymptotic sliding-mode based consensus control scheme, under which, the output consensus error can converge to zero by removing the disturbances from output channels. Secondly, in order to reach the consensus goal, we design a novel high-order unknown input observer for each agent. It can estimate not only each agent’s states and disturbances, but also the disturbances’ high-order derivatives, which are required in the control scheme aforementioned above. The observer-based consensus control laws and the convergence analysis of the consensus error dynamics are given. Finally, a simulation example is provided to verify the validity of our methods.

[1]  Shihua Li,et al.  Speed Control for PMSM Servo System Using Predictive Functional Control and Extended State Observer , 2012, IEEE Transactions on Industrial Electronics.

[2]  Ali Saberi,et al.  Output synchronization for heterogeneous networks of introspective right‐invertible agents , 2014 .

[3]  Long Wang,et al.  Formation Control of Heterogeneous Multi-Robot Systems , 2008 .

[4]  H Nijmeijer,et al.  Network synchronization of time-delayed coupled nonlinear systems using predictor-based diffusive dynamic couplings. , 2015, Chaos.

[5]  Long Wang,et al.  Consensus of Switched Multiagent Systems , 2016, IEEE Transactions on Circuits and Systems II: Express Briefs.

[6]  Fanglai Zhu,et al.  On the observer matching condition and unknown input observer design based on the system left-invertibility concept , 2018, Trans. Inst. Meas. Control.

[7]  Fan Zhang,et al.  Dynamic Feedback Synchronization of Lur'e Networks via Incremental Sector Boundedness , 2016, IEEE Transactions on Automatic Control.

[8]  Claudio De Persis,et al.  Formation control using binary information , 2015, Autom..

[9]  Jan Lunze,et al.  Synchronization of Heterogeneous Agents , 2012, IEEE Transactions on Automatic Control.

[10]  Jiangping Hu,et al.  An observer-based consensus tracking control and application to event-triggered tracking , 2015, Commun. Nonlinear Sci. Numer. Simul..

[11]  Yang Liu,et al.  Leader–follower synchronisation of autonomous agents with external disturbances , 2014, Int. J. Control.

[12]  Yiguang Hong,et al.  Distributed Observers Design for Leader-Following Control of Multi-Agent Networks (Extended Version) , 2017, 1801.00258.

[13]  Xinghuo Yu,et al.  High-Order Mismatched Disturbance Compensation for Motion Control Systems Via a Continuous Dynamic Sliding-Mode Approach , 2014, IEEE Transactions on Industrial Informatics.

[14]  Henk Nijmeijer,et al.  Network synchronization using invariant-manifold-based diffusive dynamic couplings with time-delay , 2015, Autom..

[15]  Zhengtao Ding,et al.  Distributed adaptive controllers for cooperative output regulation of heterogeneous agents over directed graphs , 2016, Autom..

[16]  Guanghui Wen,et al.  Consensus Tracking of Multi-Agent Systems With Lipschitz-Type Node Dynamics and Switching Topologies , 2014, IEEE Transactions on Circuits and Systems I: Regular Papers.

[17]  Yasser Abdel-Rady Ibrahim Mohamed,et al.  Design and Implementation of a Robust Current-Control Scheme for a PMSM Vector Drive With a Simple Adaptive Disturbance Observer , 2007, IEEE Transactions on Industrial Electronics.

[18]  A. Isidori.  Nonlinear Control Systems , 1985 .

[19]  Guan Wang,et al.  Second-order cluster consensus of multi-agent dynamical systems with impulsive effects , 2014, Commun. Nonlinear Sci. Numer. Simul..

[20]  Paul E. Allaire,et al.  Integral sliding-mode control of a magnetically suspended balance beam: analysis, simulation, and experiment , 2001 .

[21]  Housheng Su,et al.  Unknown input observer design for one-sided Lipschitz nonlinear systems , 2015 .

[22]  Gang Feng,et al.  Output Consensus of Heterogeneous Linear Discrete-Time Multiagent Systems With Structural Uncertainties , 2015, IEEE Transactions on Cybernetics.

[23]  Frank Allgöwer,et al.  An internal model principle is necessary and sufficient for linear output synchronization , 2011, Autom..

[24]  Henk Nijmeijer,et al.  Network Synchronization by Dynamic diffusive Coupling , 2013, Int. J. Bifurc. Chaos.

[25]  Jie Huang,et al.  Cooperative Output Regulation of Linear Multi-Agent Systems , 2012, IEEE Transactions on Automatic Control.

[26]  Xiao Fan Wang,et al.  Flocking of Multi-Agents With a Virtual Leader , 2009, IEEE Trans. Autom. Control..

[27]  Christopher Edwards,et al.  Sliding Mode Control and Observation , 2013 .

[28]  Kiyotsugu Takaba,et al.  Robust Synchronization of Uncertain Linear Multi-Agent Systems , 2013, IEEE Transactions on Automatic Control.

[29]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[30]  Jan Lunze,et al.  A method for designing the communication structure of networked controllers , 2013, Int. J. Control.

[31]  Thor I. Fossen,et al.  H∞ almost output synchronization for heterogeneous networks of introspective agents under external disturbances , 2014, Autom..

[32]  Lihua Xie,et al.  Heterogeneous consensus of higher‐order multi‐agent systems with mismatched uncertainties using sliding mode control , 2017 .

[33]  Henk Nijmeijer,et al.  Synchronization of Identical Linear Systems and Diffusive Time-Delayed Couplings , 2014, IEEE Transactions on Circuits and Systems I: Regular Papers.

[34]  Jan Lunze,et al.  Self-organising disturbance attenuation for synchronised agents with individual dynamics , 2015, Int. J. Control.

[35]  Martin J. Corless,et al.  State and Input Estimation for a Class of Uncertain Systems , 1998, Autom..

[36]  Frank L. Lewis,et al.  Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties , 2013, Autom..

[37]  Hyungbo Shim,et al.  Output Consensus of Heterogeneous Uncertain Linear Multi-Agent Systems , 2011, IEEE Transactions on Automatic Control.

[38]  Jun Yang,et al.  Robust control of nonlinear MAGLEV suspension system with mismatched uncertainties via DOBC approach. , 2011, ISA transactions.

[39]  Xue Lin,et al.  Finite-Time Consensus of Switched Multiagent Systems , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[40]  Jie Huang,et al.  Cooperative robust output regulation of a class of heterogeneous linear uncertain multi‐agent systems , 2014 .

[41]  Frank L. Lewis,et al.  Synchronization of nonlinear heterogeneous cooperative systems using input-output feedback linearization , 2014, Autom..

[42]  Long Wang,et al.  Finite-Time Consensus Problems for Networks of Dynamic Agents , 2007, IEEE Transactions on Automatic Control.

[43]  Fanglai Zhu,et al.  Output control of MIMO system with unmatched disturbance based on high-order unknown input observer , 2017 .

[44]  Jun Yang,et al.  Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties , 2012, IEEE Transactions on Industrial Electronics.

[45]  Hui Liu,et al.  Robust decentralized output regulation with single or multiple reference signals for uncertain heterogeneous systems , 2015 .

[46]  Xiaoqing Lu,et al.  Tracking consensus of nonlinear MASs with asymmetric communication delays in noisy environments , 2014, Commun. Nonlinear Sci. Numer. Simul..

[47]  Long Wang,et al.  Consensus of Hybrid Multi-Agent Systems , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[48]  Frank Allgöwer,et al.  Cooperative control of linear multi-agent systems via distributed output regulation and transient synchronization , 2014, Autom..

[49]  Fan Zhang,et al.  Fully distributed robust synchronization of networked Lur'e systems with incremental nonlinearities , 2014, Autom..

[50]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.