Output Consensus Regulation for State-Unmeasurable Discrete-Time Multiagent Systems with External Disturbances

He Jiang,Dongsheng Yang

doi:10.1155/2015/158702

Abstract

This paper deals with the output consensus regulation problem for discrete-time multiagent systems with state-unmeasurable agents and external disturbances under directed communication network topologies. Firstly, the mathematical model for the output consensus problem of discrete-time multiagent systems is deduced and formulated via making matrix transformation. Then, based on state observers, a novel output consensus protocol with dynamic compensator which is used as observer for the exosystem is proposed to solve this problem. Some knowledge of matrix theory and graph theory is introduced to design protocol parameters and the convergence of output consensus errors is proved. Finally, a numerical simulation example is shown to verify the effectiveness of the proposed protocol design.

Highlights

The researches on coordination problems of multiagent systems have received more and more attention from different fields, for the multiagent systems lie in almost everywhere in our daily life such as communication networks, power grids, social networks, and genetic regulatory networks
The directed information flow among dynamic agents is based on the communication network topology digraph
Reference [20] solves the leader-following formation problem of multirobot systems with switching interconnection topologies by using output feedback laws based on canonical internal model

Summary

Introduction

The researches on coordination problems of multiagent systems have received more and more attention from different fields, for the multiagent systems lie in almost everywhere in our daily life such as communication networks, power grids, social networks, and genetic regulatory networks. Reference [20] solves the leader-following formation problem of multirobot systems with switching interconnection topologies by using output feedback laws based on canonical internal model. Reference [27] proposed a distributed coordinative control approach to solve the output regulation problem for a class of nonlinear multiagent systems. Based on a dynamic compensator, a cooperative output regulation approach for the continuous-time multiagent systems whose states are assumed measurable was given in [31]. According to the problems above, a novel output consensus protocol with a dynamic compensator based on state observers will be presented to solve the output consensus regulation problem for discrete-time multiagent systems with state-unmeasurable agents and external disturbances under directed communication network topologies.

Preliminaries and Problem Formulation

Main Results

Numerical Simulation Example

Conclusion