Abstract
The output regulation problem is examined in this paper for a class of heterogeneous multiagent systems whose dynamics are governed by polytopic linear parameter-varying (LPV) models. The dynamics of the agents are decoupled from each other but the agents’ controllers are assumed to communicate. To design the cooperative LPV controllers, analysis conditions for closed-loop system are first established to ensure stability and reference tracking. Then, the LPV control synthesis problem is addressed, where the offline solution to a time-varying Sylvester equation will be used to determine and update in real time the controller state-space matrices. Two numerical examples will be finally given to demonstrate the efficacy of the proposed cooperative design method.
Highlights
We have witnessed in the recent years a large number of studies devoted to the area of multiagent systems coordination and control due to their vast applications in biological systems, traffic networks, robotics, and unmanned vehicles, among many other applications
The main contribution of this paper is in the design of a cooperative output feedback controller to solve the output regulation problem for multiagent polytopic linear parameter-varying (LPV) systems
A sufficient condition is first established to ensure that the output regulation problem is solvable for a multiagent LPV system
Summary
We have witnessed in the recent years a large number of studies devoted to the area of multiagent systems coordination and control due to their vast applications in biological systems, traffic networks, robotics, and unmanned vehicles, among many other applications (see, e.g., [1,2,3] and references therein). The output synchronization problem of multiagent systems has been studied for agents represented by identical LPV models or bilinear models with noisy measurements [12, 13] In these studies, the controllers are designed based on the dissipativity theory, while it is assumed that each agent has access to the varying parameters of all other agents. The main contribution of this paper is in the design of a cooperative output feedback controller to solve the output regulation problem for multiagent polytopic LPV systems. A sufficient condition is first established to ensure that the output regulation problem is solvable for a multiagent LPV system This condition is converted to the so-called Sylvester equation with time-varying coefficients.
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