Robust Output Synchronization of a Network of Heterogeneous Nonlinear Agents Via Nonlinear Regulation Theory
Robust Output Synchronization of a Network of Heterogeneous Nonlinear Agents Via Nonlinear Regulation Theory
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DOI：
10.1109/cdc.2013.6760388
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发表时间：
2014
影响因子：
6.8
通讯作者：
A. Isidori;L. Marconi;G. Casadei
中科院分区：
文献类型：
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作者：
A. Isidori;L. Marconi;G. Casadei
在这篇文章中，我们考虑了一个由异质扩散耦合非线性主体组成的网络的输出同步问题。具体地说，我们展示了如何控制(异类)智能体，使它们的输出渐近跟踪指定的非线性外系统的输出。这个问题分两步解决。在第一步中，解决了在(相同的)非线性参考生成器之间达成共识的问题。在这方面，在通信图是连通的假设下，证明了最近发展起来的解决线性智能体之间一致性问题的技术如何扩展到由非线性d维微分方程组建模的智能体。第二步，将非线性输出调节理论应用于分散控制模式，迫使网络中每个智能体的输出稳健地跟踪局部参考模型的(同步)输出。仿真结果表明了该设计方法的有效性。
In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (heterogeneous) agents can be controlled in such a way that their outputs asymptotically track the output of a prescribed nonlinear exosystem. The problem is solved in two steps. In the first step, the problem of achieving consensus among (identical) nonlinear reference generators is addressed. In this respect, it is shown how the techniques recently developed to solve the consensus problem among linear agents can be extended to agents modeled by nonlinear d-dimensional differential equations, under the assumption that the communication graph is connected. In the second step, the theory of nonlinear output regulation is applied in a decentralized control mode, to force the output of each agent of the network to robustly track the (synchronized) output of a local reference model. Simulation results are presented to show the effectiveness of the design methodology.