Optimal Consensus via OCPI Regulation for Unknown Pure-Feedback Agents With Disturbances and State Delays

Abstract

In this article, we present a novel methodology to address the optimal output consensus problem for multiagent systems. We propose a distributed variable transformation that recasts the aforementioned problem into a simpler regulation problem of the new variables. The transformation requires only relative output measurements and is independent of any underlying agent dynamics and therefore applicable to a general class of systems. Classical control techniques, which take into account the agent dynamics and only need the relative outputs to be shared between neighbors, can then be employed to regulate the new variables. We utilize the methodology to address, for the first time, the problem of optimal output consensus for unknown pure-feedback agents with disturbances and state delays. Simulation studies on a group of continuous stirred tank reactors illustrate the validity of the theoretical analysis.