Abstract
In this paper, distributed leader-follower control algorithms are presented for linear multi-agent systems based on output regulation theory and internal model principle. By treating a leader to be followed as an exosystem, the proposed framework can be used to generalize existing multi-agent coordination solutions to allow the identical agents to track an active leader with different dynamics and unmeasurable variables. Moreover, the obtained results for multi-agent coordination control are an extension of previous work on centralized and decentralized output regulation to a distributed control context. Necessary and sufficient conditions for the distributed output regulation problem are given. Finally, distributed output regulation of some classes of multi-agent systems with switching interconnection topologies are discussed via both static and dynamic feedback.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 48-66 |
| Number of pages | 19 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 23 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 10 2013 |
Keywords
- distributed control
- internal model
- multi-agent systems
- output regulation
ASJC Scopus subject areas
- Control and Systems Engineering
- General Chemical Engineering
- Biomedical Engineering
- Aerospace Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering