| This Paper:Browse 226 Download 0 |
码上扫一扫！ |
| Composite nonlinear feedback control for cooperative output regulation of linear multi-agent systems by a distributed dynamic compensator |
| XinfeiWu1,XiaoYu1,2,WeiyaoLan1,2 |
|
|
| (1 Department of Automation, Xiamen University, Xiamen 361005, Fujian, China;2 Key Laboratory of Control and Navigation (Xiamen University), Fujian Province University, Xiamen 361005, Fujian, China) |
|
| 摘要: |
| This paper investigates the cooperative output regulation problem of linear multi-agent systems with a linear exogenous
system (exo-system). The network topology is described by a directed graph which contains a directed spanning tree with the
exo-system as the root. Aiming at improving the transient performance of the multi-agent systems, a dynamic control law is
developed by the composite nonlinear feedback (CNF) control technique. In particular, a distributed dynamic compensator
independent of the interaction on the compensator states of agents among the network, is adopted. The solvability condition
for the cooperative output regulation problem is obtained using the small-gain theory, which will not be destroyed by adding
the nonlinear feedback part of the CNF control law. It is also shown that in the case with the exo-system not diverging
exponentially, the small-gain condition can be guaranteed using the low-gain design. Finally, simulation results illustrate that
the proposed CNF control law improves the transient performance for the cooperative output regulation of linear multi-agent
systems. |
| 关键词: Cooperative output regulation · Distributed dynamic compensator · Composite nonlinear feedback · Small-gain condition |
| DOI：https://doi.org/10.1007/s11768-023-00167-6 |
|
| 基金项目:This work was supported in part by the National Natural Science Foundation of China under Grants 62273285 and 62173283, and in part by the Natural Science Foundation of Fujian Province of China under Grants 2021J01051. |
|
| Composite nonlinear feedback control for cooperative output regulation of linear multi-agent systems by a distributed dynamic compensator |
| Xinfei Wu1,Xiao Yu1,2,Weiyao Lan1,2 |
| (1 Department of Automation, Xiamen University, Xiamen 361005, Fujian, China;2 Key Laboratory of Control and Navigation (Xiamen University), Fujian Province University, Xiamen 361005, Fujian, China) |
| Abstract: |
| This paper investigates the cooperative output regulation problem of linear multi-agent systems with a linear exogenous
system (exo-system). The network topology is described by a directed graph which contains a directed spanning tree with the
exo-system as the root. Aiming at improving the transient performance of the multi-agent systems, a dynamic control law is
developed by the composite nonlinear feedback (CNF) control technique. In particular, a distributed dynamic compensator
independent of the interaction on the compensator states of agents among the network, is adopted. The solvability condition
for the cooperative output regulation problem is obtained using the small-gain theory, which will not be destroyed by adding
the nonlinear feedback part of the CNF control law. It is also shown that in the case with the exo-system not diverging
exponentially, the small-gain condition can be guaranteed using the low-gain design. Finally, simulation results illustrate that
the proposed CNF control law improves the transient performance for the cooperative output regulation of linear multi-agent
systems. |
| Key words: Cooperative output regulation · Distributed dynamic compensator · Composite nonlinear feedback · Small-gain condition |
