Cooperative Output Regulation of LTI Plant via Distributed Observers With Local Measurement
Cooperative Output Regulation of LTI Plant via Distributed Observers With Local Measurement
复制标题
通过具有本地测量的分布式观测器对 LTI 设备进行协作输出调节
DOI：
10.1109/tcyb.2017.2728812
复制
发表时间：
2018
影响因子：
11.8
通讯作者：
Lu Jinhu
中科院分区：
文献类型：
--
作者：
Liu Kexin;Chen Yao;Duan Zhisheng;Lu Jinhu
在过去的几十年里，由于分布式输出调节问题在现实世界中的广泛应用，它受到了广泛的关注。传统上，假设每个节点获得相同的信号。然而，一个重要的观察是，由于系统的可观测性或配置，每个代理具有不同的测量。为了解决这种情况下的输出调节问题，我们提出了一种协同输出调节网络，其中每个智能体获得关于对象和外系统状态的系统输出测量的一部分。为了融合观测数据，设计了分布式状态观测器和扰动观测器。与传统文献不同，我们的设计表明，即使没有一个代理能够局部重建外系统的状态，仍然可以设计一个联网系统来正确跟踪参考信号。在网络拓扑固定和时变的情况下，分别给出了保证参数存在的条件。仿真结果验证了该方法的有效性。
Over the last decades, distributed output regulation problems have received much consideration due to its extensively applications in real world practices. Traditionally, it is assumed that each node obtains the same signal. However, an important observation is that each agent possesses different measurement due to the observability or configuration of the systems. To solve the output regulation problem in this case, we proposed a cooperative output regulation network, where each agent obtains a part of system output measurement on states of plant and exosystem. Distributed state observers and disturbance observers are designed in order to fuse the observed data. Different from traditional literatures, our design shows that even none of the agents can locally reconstruct the state of exosystem, it is still possible to design a networked system to track the reference signal properly. Conditions that guarantee the existence of parameters are given in the cases, where the network topologies are fixed and time-varying, respectively. The simulation results verify our method very effectively.