Title :
Multi-agent coordination with general linear models: A distributed output regulation approach
Author :
Hong, Yiguang ; Wang, Xiaoli ; Jiang, Zhong-Ping
Author_Institution :
Key Lab. of Syst. & Control, Chinese Acad. of Sci., Beijing, China
Abstract :
In this paper, the distributed output regulation problem of linear multi-agent systems is considered. Its background includes active leader following for the agents to track a leader with different dynamics and unmeasurable variables, and multi-agent consensus with environmental inputs. The driving force from active leaders or the environmental disturbance here is formulated as an exogenous system of the considered multi-agent networks. Then a systematic distributed design approach is proposed to handle output regulation via dynamic state feedback with the help of internal model. Necessary and sufficient conditions for the solvability are given.
Keywords :
linear systems; matrix algebra; multi-agent systems; multi-robot systems; nonlinear systems; regulation; robot dynamics; state feedback; distributed output regulation approach; dynamic state feedback; environmental disturbance; exogenous system; linear multiagent system; multiagent network; systematic distributed design approach; Automatic control; Automation; Control systems; Distributed control; Force measurement; Multiagent systems; Nonlinear systems; State feedback; Sufficient conditions; Topology; Multi-agent systems; active leader; distributed output regulation; internal model;
Conference_Titel :
Control and Automation (ICCA), 2010 8th IEEE International Conference on
Conference_Location :
Xiamen
Print_ISBN :
978-1-4244-5195-1
Electronic_ISBN :
1948-3449
DOI :
10.1109/ICCA.2010.5524157