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| Semi-global weighted output average tracking of discrete-time heterogeneousmulti-agent systems subject to input saturation and external disturbances |
| QilinSong1,YuanlongLi1,YijingXie2,ZongliLin3 |
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| (1 Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;2 Department of Electrical Engineering, University of Texas at Arlington, Arlington 76019, TX, USA;3 Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville 22904-4743, VA, USA) |
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| 摘要: |
| In this paper, we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system
subject to input saturation and external disturbances. The multi-agent system consists of multiple heterogeneous linear systems
as leader agents and multiple heterogeneous linear systems as follower agents. We design both the state feedback and output
feedback control protocols for each follower agent. In particular, a distributed state observer is designed for each follower
agent that estimates the state of each leader agent. In the output feedback case, state observer is also designed for each follower
agent to estimate its own state. With these estimates, we design low gain-based distributed control protocols, parameterized
in a scalar low gain parameter. It is shown that, for any bounded set of the initial conditions, these control protocols cause the
follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter
is tuned sufficiently small. Simulation results illustrate the validity of the theoretical results. |
| 关键词: Distributed average tracking · Input saturation · Low gain feedback · Heterogeneous multi-agent systems · Output regulation |
| DOI：https://doi.org/10.1007/s11768-023-00160-z |
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| 基金项目:The work of Qilin Song and Yuanlong Li was supported in part by the National Natural Science Foundation of China (Nos. 62022055, 61973215). |
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| Semi-global weighted output average tracking of discrete-time heterogeneousmulti-agent systems subject to input saturation and external disturbances |
| Qilin Song1,Yuanlong Li1,Yijing Xie2,Zongli Lin3 |
| (1 Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;2 Department of Electrical Engineering, University of Texas at Arlington, Arlington 76019, TX, USA;3 Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville 22904-4743, VA, USA) |
| Abstract: |
| In this paper, we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system
subject to input saturation and external disturbances. The multi-agent system consists of multiple heterogeneous linear systems
as leader agents and multiple heterogeneous linear systems as follower agents. We design both the state feedback and output
feedback control protocols for each follower agent. In particular, a distributed state observer is designed for each follower
agent that estimates the state of each leader agent. In the output feedback case, state observer is also designed for each follower
agent to estimate its own state. With these estimates, we design low gain-based distributed control protocols, parameterized
in a scalar low gain parameter. It is shown that, for any bounded set of the initial conditions, these control protocols cause the
follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter
is tuned sufficiently small. Simulation results illustrate the validity of the theoretical results. |
| Key words: Distributed average tracking · Input saturation · Low gain feedback · Heterogeneous multi-agent systems · Output regulation |
