Cooperative robust consensus for linear heterogeneous multi-agent systems under switching topologies

Dongxiao Yan; Wenchao Huang; Hailin Liu

doi:10.1117/12.2679348

16 June 2023 Cooperative robust consensus for linear heterogeneous multi-agent systems under switching topologies

Dongxiao Yan, Wenchao Huang, Hailin Liu

Proceedings Volume 12702, International Conference on Intelligent Systems, Communications, and Computer Networks (ISCCN 2023); 127020U (2023) https://doi.org/10.1117/12.2679348
Event: International Conference on Intelligent Systems, Communications, and Computer Networks (ISCCN 2023), 2023, Changsha, China

Abstract

In this note, we investigate cooperative robust consensus problem for a class of linear heterogeneous multi-agent systems (MASs) with parameter uncertainty in agents. All the agents can have nonidentical dynamic dimensions. By combining the communication network, a distributed dynamic compensator is established based on only the measurable output information of the exosystem, which provides an estimated value of the state of the exosystem for each agent. The distributed dynamic output feedback protocol (DDOFP) is proposed by utilizing the exosystem compensator, through which the cooperative robust consensus is achieved under switching topology by following output regulation framework. Here, we introduce the stabilization scheme for a class of liner switched systems to analyse the closed-loop stability, which avoids the dependence on the eigenvalues of Laplacian matrix, such that it is a fully distributed control strategy without any global information. Finally, the simulation example is illustrated to verify the feasibility and effectiveness of the theory results.

Citation Download Citation

Dongxiao Yan, Wenchao Huang, and Hailin Liu "Cooperative robust consensus for linear heterogeneous multi-agent systems under switching topologies", Proc. SPIE 12702, International Conference on Intelligent Systems, Communications, and Computer Networks (ISCCN 2023), 127020U (16 June 2023); https://doi.org/10.1117/12.2679348

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available