Distributed Adaptive Output Consensus of Unknown Heterogeneous Non-Minimum Phase Multi-Agent Systems  

作　　者：Wenji Cao Lu Liu Gang Feng 

机构地区：[1]Department of Biomedical Engineering,City University of Hong Kong,Hong Kong SAR,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第4期997-1008,共12页自动化学报（英文版）

基　　金：This work was supported by Research Grants Council of Hong Kong(CityU-11205221).

摘　　要：This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.

关 键 词：Adaptive pole placement control heterogeneous multi-agent systems leader-following output consensus non-minimum phase 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]