Abstract
This article investigates the nonnegative consensus tracking problem for networked systems with a distributed static output-feedback (SOF) control protocol. The distributed SOF controller design for networked systems presents a more challenging issue compared with the distributed state-feedback controller design. The agents are described by multi-input multi-output (MIMO) positive dynamic systems which may contain uncertain parameters, and the interconnection among the followers is modeled using an undirected connected communication graph. By employing positive systems theory, a series of necessary and sufficient conditions governing the consensus of the nominal, as well as uncertain, networked positive systems, is developed. Semidefinite programming consensus design approaches are proposed for the convergence rate optimization of MIMO agents. In addition, by exploiting the positivity characteristic of the systems, a linear-programming-based design approach is also proposed for the convergence rate optimization of single-input multi-output (SIMO) agents. The proposed approaches and the corresponding theoretical results are validated by case studies.
Highlights
I N the last decade, the coordination problem of networked systems has attracted increasing attention among researchers
We investigate the nonnegative consensus tracking problem of networked systems in this article
This section is devoted to the analysis and discussion of Problem Nonnegative Consensus Tracking of Networked Systems (NCTNS) as well as Problem Robust Nonnegative Consensus Tracking of Networked Systems (RNCTNS), for obtaining some necessary and sufficient conditions of consensus analysis and design
Summary
I N the last decade, the coordination problem of networked systems has attracted increasing attention among researchers. In practical applications, the full state information for controller design is generally not available, the output feedback design approaches for consensus of networked systems are desirable. Another practical issue that should be considered is uncertainty, which is inevitably present in system parameters for various unpredictable reasons.
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