In this paper, we consider the global robust output regulation problem for a class of nonlinear multi-agent systems by distributed output feedback control. We first show that the problem can be converted into the global stabilization problem of a class of multi-input, multi-output nonlinear systems called augmented system. Then, we further show that, under a set of standard assumptions, the augmented system can be globally stabilized by a distributed output feedback control law. Finally, we apply our approach to solve a leader-following synchronization problem for a group of Lorenz multi-agent systems.
Issue Section:
Research Papers
References
1.
Su
, Y.
, Hong
, Y.
, and Huang
, J.
, 2013
, “A General Result on the Robust Cooperative Output Regulation for Linear Uncertain Multi-agent Systems
,” IEEE Trans. Autom. Control
, 58
(5
), pp. 1275
–1279
.10.1109/TAC.2012.22298372.
Su
, Y.
, and Huang
, J.
, 2012
, “Cooperative Robust Output Regulation of Linear Uncertain Multi-agent Systems
,” Proceedings of the 10th World Congress on Intelligent Control and Automation
, Beijing, China
, pp. 1299
–1304
.3.
Wang
, X.
, Hong
, Y.
, Huang
J.
, and Jiang
, Z.
, 2010
, “A Distributed Control Approach to a Robust Output Regulation Problem for Multi-agent Linear Systems
,” IEEE Trans. Autom. Control
, 55
(12
), pp. 2891
–2895
.10.1109/TAC.2010.20762504.
Liu
, L.
, 2011
, “Robust Cooperative Output Regulation Problem for Nonlinear Multi-agent Systems
,” Proceedings of the 9th IEEE International Conference on Control and Automation
, Santiago, Chile
, pp. 644
–649
.5.
Su
, Y.
, and Huang
, J.
, 2012
, “Cooperative Output Regulation of Linear Multi-agent Systems
,” IEEE Trans. Autom. Control
, 57
(4
), pp. 1062
–1066
.10.1109/TAC.2011.21696186.
Xu
, D.
, and Huang
, J.
, 2010
, “Output Regulation Design for a Class of Nonlinear Systems With an Unknown Control Direction
,” ASME J. Dyn. Syst., Meas., Control
, 132
(1
), p. 014503
.10.1115/1.40000767.
Dong
, Y.
, and Huang
, J.
, 2013
, “Cooperative Global Robust Output Regulation for Nonlinear Multi-agent Systems in Output Feedback Form
,” The IASTED International Conference on Modelling, Identification and Control
, Phuket, Thailand
, pp. 138
–143
.8.
Huang
, J.
, and Chen
, Z.
, 2004
, “A General Framwork for Tackling the Output Regulation Problem
,” IEEE Trans. Autom. Control
, 49
(12
), pp. 2203
–2218
.10.1109/TAC.2004.8392369.
Huang
, J.
, 2004
, Nonlinear Output Regulation: Theory and Applications
, SIAM
, Phildelphia, PA
.10.
Nikiforov
, V. O.
, 1998
, “Adaptive Non-linear Tracking With Complete Compensation of Unknown Disturbances
,” Eur. J. Control
, 4
(2
), pp. 132
–139
.10.1016/S0947-3580(98)70107-411.
Jiang
, Z.
, 1999
, “A Combined Backstepping and Small-gain Approach to Adaptive Output Feedback Control
,” Automatica
, 35
(6
), pp. 1131
–1139
.10.1016/S0005-1098(99)00015-112.
Sontag
, E. D.
, and Teel
, A. R.
, 1995
, “Changing Supply Functions in Input/state Stable Systems
,” IEEE Trans. Autom. Control
, 40
(8
), pp. 1476
–1478
.10.1109/9.40224613.
Hu
, J.
, and Hong
, Y.
, 2007
, “Leader-following Coordination of Multi-agent Systems With Coupling Time Delays
,” Physica A
, 374
(2
), pp. 853
–863
.10.1016/j.physa.2006.08.01514.
Crespo
, L. G.
, and Agrawal
, S. K.
, 2003
, “Differential Flatness and Cooperative Tracking in the Lorenz System
,” Proceedings of American Control Conference
, Denver, CO
, pp. 3525
–3530
.Copyright © 2014 by ASME
You do not currently have access to this content.
