Semi-global weighted output average tracking of discrete-time heterogeneous multi-agent systems subject to input saturation and external disturbances  

作　　者：Qilin Song Yuanlong Li Yijing Xie Zongli Lin 

机构地区：[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

出　　处：《Control Theory and Technology》2023年第3期315-333,共19页控制理论与技术（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(Nos.62022055,61973215).

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 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]