Output Consensus of Heterogeneous Multiagent Systems with Physical and Communication Graphs

This paper deals with the output consensus problem of heterogeneous networks in a leader-follower manner that are interconnected by a physical coupling graph. The network under consideration consists of linear agents with different dynamics/dimensions. Both the state-feedback and output-feedback control protocols based upon information flow prescribed by a separate communication graph are developed, using the internal model principle and relative outputs of neighboring agents. With the small-gain theorem, we convert the consensus problem into a control problem of decoupled linear systems having the same dimensions as a single agent, where the disturbance attenuation constraints depend on the largest singular value related to the global information of physical and communication graphs. Then, we provide local synthesis procedures for control gains in terms of feasible solutions of algebraic Riccati equations. Finally, simulation examples are presented to verify the performance of the theoretical results.

[1]  Frank L. Lewis,et al.  Distributed Control Systems for Small-Scale Power Networks: Using Multiagent Cooperative Control Theory , 2014, IEEE Control Systems.

[2]  Frank L. Lewis,et al.  Output Containment Control of Linear Heterogeneous Multi-Agent Systems Using Internal Model Principle , 2017, IEEE Transactions on Cybernetics.

[3]  Hao Shen,et al.  Distributed containment control of second-order multiagent systems with input delays under general protocols , 2016, Complex..

[4]  Vassilios G. Agelidis,et al.  Unified Distributed Control for DC Microgrid Operating Modes , 2016, IEEE Transactions on Power Systems.

[5]  Xudong Ye,et al.  Cooperative Output Regulation of Heterogeneous Multi-Agent Systems: An $H_{\infty}$ Criterion , 2014, IEEE Transactions on Automatic Control.

[6]  Gang Feng,et al.  Output Consensus of Heterogeneous Linear Multi-Agent Systems by Distributed Event-Triggered/Self-Triggered Strategy , 2017, IEEE Transactions on Cybernetics.

[7]  Lihua Xie,et al.  Robust H/sub infinity / control for linear systems with norm-bounded time-varying uncertainty , 1992 .

[8]  Xianwei Li,et al.  Output-feedback protocols without controller interaction for consensus of homogeneous multi-agent systems: A unified robust control view , 2017, Autom..

[9]  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.

[10]  Frank L. Lewis,et al.  Distributed Cooperative Secondary Control of Microgrids Using Feedback Linearization , 2013, IEEE Transactions on Power Systems.

[11]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[12]  Frank L. Lewis,et al.  Cooperative Output Regulation of Heterogeneous Linear Multi-Agent Networks via ${H_{\infty }}$ Performance Allocation , 2019, IEEE Transactions on Automatic Control.

[13]  Giovanni Russo,et al.  Exploiting Nodes Symmetries to Control Synchronization and Consensus Patterns in Multiagent Systems , 2016, IEEE Control Systems Letters.

[14]  Ji-Feng Zhang,et al.  Necessary and Sufficient Conditions for Consensusability of Linear Multi-Agent Systems , 2010, IEEE Transactions on Automatic Control.

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

[16]  Abdelkader Abdessameud,et al.  Distributed output regulation of heterogeneous linear multi-agent systems with communication constraints , 2018, Autom..

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

[18]  Hyungbo Shim,et al.  Consensus of high-order linear systems using dynamic output feedback compensator: Low gain approach , 2009, Autom..

[19]  Wenwu Yu,et al.  An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination , 2012, IEEE Transactions on Industrial Informatics.

[20]  Sezai Emre Tuna,et al.  Synchronizing linear systems via partial-state coupling , 2008, Autom..

[21]  Ali Saberi,et al.  Decentralized control for output synchronization in heterogeneous networks of non-introspective agents , 2012, 2012 American Control Conference (ACC).

[22]  Abhijit Das,et al.  Cooperative Control of Multi-Agent Systems , 2014 .

[23]  Mario di Bernardo,et al.  Multiplex PI control for consensus in networks of heterogeneous linear agents , 2015, Autom..

[24]  Jun Zhao,et al.  Distributed integral-based event-triggered scheme for cooperative output regulation of switched multi-agent systems , 2018, Inf. Sci..

[25]  Guoguang Wen,et al.  Distributed cooperative control for multi-agent systems , 2012 .

[26]  Frank L. Lewis,et al.  Cooperative Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches , 2013 .

[27]  Jie Huang,et al.  3. Nonlinear Output Regulation , 2004 .

[28]  Frank L. Lewis,et al.  Output regulation of linear heterogeneous multi-agent systems via output and state feedback , 2016, Autom..

[29]  Vijay Kumar,et al.  Robust Control for Mobility and Wireless Communication in Cyber–Physical Systems With Application to Robot Teams , 2012, Proceedings of the IEEE.

[30]  Wenwu Yu,et al.  On pinning synchronization of complex dynamical networks , 2009, Autom..

[31]  Long Wang,et al.  Recent Advances in Consensus of Multi-Agent Systems: A Brief Survey , 2017, IEEE Transactions on Industrial Electronics.

[32]  Rodolphe Sepulchre,et al.  Synchronization in networks of identical linear systems , 2009, Autom..

[33]  Yilun Shang,et al.  Leader-Follower Fixed-Time Group Consensus Control of Multiagent Systems under Directed Topology , 2017, Complex..

[34]  F. Lewis,et al.  Necessary and Sufficient Conditions for H-∞ Static Output-Feedback Control , 2006 .

[35]  Hongwei Zhang,et al.  Bipartite consensus of multi‐agent systems over signed graphs: State feedback and output feedback control approaches , 2017 .

[36]  Guanrong Chen,et al.  Pinning control of scale-free dynamical networks , 2002 .

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

[38]  Frank L. Lewis,et al.  Coordination of multi-agent systems on interacting physical and communication topologies , 2017, Syst. Control. Lett..

[39]  L. Xie,et al.  Robust H^∞ Control for Linear Systems with Norm-Bounded Time-Varying Uncertainty , 1990 .

[40]  Qing-Long Han,et al.  An Overview of Recent Advances in Event-Triggered Consensus of Multiagent Systems , 2018, IEEE Transactions on Cybernetics.