Control of Networked Dynamical System with Heterogenous Dynamics

Abstract

Generally speaking, cooperative control of networked dynamical systems can be classified into leaderless coordination and leader-following coordination problems depending on whether or not there is a leader specifying the global information. When the leader is dynamic, the leader-following coordination problem is specified as a coordinated tracking problem and the case of a static leader falls into a special case. On the other hand, external disturbances inevitably exist in practical applications, and therefore, the design on disturbance rejection strategy for cooperative control of networked dynamical systems is also indispensable. In this chapter, we construct a framework to describe and study the coordinated output regulation problem for multiple heterogeneous linear systems. Here, coordinated output regulation problem is equivalent to coordinated tracking problem with disturbance rejection. Each agent is modeled as a general linear multiple-input multiple-output system with an autonomous exosystem that represents the individual offset from the group reference for the agent. The system as a whole has a group exogenous state that represents the tracking reference for the whole group. Under the constraints that the group exogenous output is only locally available to each agent and that the agents have only access to their neighbors’ information, we propose observer-based feedback controllers to solve the coordinated output regulation problem using the output feedback information. A high-gain approach is used and the information interactions are allowed to be switching over a finite set of networks containing both graphs that have a directed spanning tree and graphs that do not have. Simulations are shown to validate the theoretical results.