A distributed disagreement-based protocol for synchronization of uncertain heterogeneous agents

In networks with heterogeneous and uncertain agents, fixed-gain control can lead to synchronization only if the uncertainties are relatively small. If the uncertainties are larger, we need to develop adaptive-gain approaches to achieve synchronization. In this work we propose an adaptive synchronization protocol, in case of full-state measurement, for uncertain heterogeneous agents based on a distributed disagreement reasoning. Specifically, we first define unknown gains (feedback and coupling gains) that could lead all agents to a homogeneous behavior and thus synchronization: however, since these gains are unknown in view of the unknown dynamics, we design adaptive laws for these gains that lead the agents toward synchronization. The adaptive laws are driven by a disagreement error which is calculated among neighbors: a Lyapunov analysis is presented for showing convergence of the synchronization error to zero.

[1]  Bruce A. Francis,et al.  The internal model principle of control theory , 1976, Autom..

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

[3]  Jie Huang,et al.  A General Result on the Robust Cooperative Output Regulation for Linear Uncertain Multi-Agent Systems , 2013, IEEE Transactions on Automatic Control.

[4]  Wei Wang,et al.  Distributed adaptive asymptotically consensus tracking control of nonlinear multi-agent systems with unknown parameters and uncertain disturbances , 2017, Autom..

[5]  Nikolaos Moustakis.  Adaptive quantized control for uncertain networked systems , 2017 .

[6]  Chris Arney.  Sync: The Emerging Science of Spontaneous Order , 2007 .

[7]  Lin Huang,et al.  Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint , 2016, IEEE Transactions on Circuits and Systems I: Regular Papers.

[8]  Lu Liu,et al.  Cooperative Output Regulation of Linear Multi-Agent Systems by a Novel Distributed Dynamic Compensator , 2017, IEEE Transactions on Automatic Control.

[9]  Jie Huang,et al.  Cooperative Output Regulation With Application to Multi-Agent Consensus Under Switching Network , 2012, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[10]  Arne Wahrburg,et al.  Observer-based synchronization of heterogeneous multi-agent systems by homogenization , 2011, 2011 Australian Control Conference.

[11]  Lu Liu,et al.  Distributed Feedforward Approach to Cooperative Output Regulation Subject to Communication Delays and Switching Networks , 2017, IEEE Transactions on Automatic Control.

[12]  Robin J. Evans,et al.  Synchronization of Passifiable Lurie Systems Via Limited-Capacity Communication Channel , 2009, IEEE Trans. Circuits Syst. I Regul. Pap..

[13]  Guoqiang Hu,et al.  The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems , 2017, Autom..

[14]  Jürgen Adamy,et al.  Synchronizing Linear Heterogeneous Networks by Output Homogenization , 2014 .

[15]  Xiaobo Li,et al.  Adaptive Consensus of Multi-Agent Systems With Unknown Identical Control Directions Based on A Novel Nussbaum-Type Function , 2014, IEEE Transactions on Automatic Control.

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

[17]  Simone Baldi,et al.  An Adaptive Switched Control Approach to Heterogeneous Platooning With Intervehicle Communication Losses , 2018, IEEE Transactions on Control of Network Systems.

[18]  Travis E. Gibson,et al.  Adaptation and synchronization over a network: Asymptotic error convergence and pinning , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[19]  Robin J. Evans,et al.  Synchronization of passifiable Lurie systems via limited capacity communication channel , 2008, 2008 47th IEEE Conference on Decision and Control.

[20]  Bart De Schutter,et al.  Adaptive Asymptotic Tracking Control of Uncertain Time-Driven Switched Linear Systems , 2017, IEEE Transactions on Automatic Control.

[21]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[22]  Gang Tao,et al.  Multivariable adaptive control: A survey , 2014, Autom..

[23]  Daniele Astolfi,et al.  Multipattern Output Consensus in Networks of Heterogeneous Nonlinear Agents With Uncertain Leader: A Nonlinear Regression Approach , 2018, IEEE Transactions on Automatic Control.

[24]  Jie Huang,et al.  Cooperative adaptive output regulation for a class of nonlinear uncertain multi-agent systems with unknown leader , 2013, Syst. Control. Lett..

[25]  Guoqiang Hu,et al.  Distributed Coordination of Multiple Unknown Euler-Lagrange Systems , 2018, IEEE Transactions on Control of Network Systems.

[26]  Bing Li,et al.  Distributed Containment Control for Multiple Unknown Second-Order Nonlinear Systems With Application to Networked Lagrangian Systems , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[27]  Simone Baldi,et al.  Cooperative Output Regulation of Heterogeneous Unknown Systems via Passification-Based Adaptation , 2018, IEEE Control Systems Letters.

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

[29]  Elias B. Kosmatopoulos,et al.  Adaptive synchronization in networks with heterogeneous uncertain Kuramoto-like units , 2018, 2018 European Control Conference (ECC).

[30]  Petros A. Ioannou,et al.  Adaptive control of Networked Distributed Systems with unknown interconnections , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[31]  Simone Baldi,et al.  Adaptive synchronization of unknown heterogeneous agents: An adaptive virtual model reference approach , 2018, J. Frankl. Inst..

[32]  Zhengtao Ding,et al.  Distributed adaptive consensus control of nonlinear output-feedback systems on directed graphs , 2016, Autom..

[33]  Zhong-Ping Jiang,et al.  A Distributed Control Approach to A Robust Output Regulation Problem for Multi-Agent Linear Systems , 2010, IEEE Transactions on Automatic Control.

[34]  Robin J. Evans,et al.  Adaptive Observer-Based Synchronization of Chaotic Systems With First-Order Coder in the Presence of Information Constraints , 2008, IEEE Transactions on Circuits and Systems I: Regular Papers.

[35]  Karl Henrik Johansson,et al.  On robust synchronization of heterogeneous linear multi-agent systems with static couplings , 2015, Autom..