Semi-global cooperative cluster output regulation for heterogeneous multi-agent systems with input saturation |
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| Institution: | 1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China;2. School of Business Administration, Faculty of Business Administration, Southwestern University of Finance and Economics, Chengdu 611130, China;1. Department of Mechanical, Industrial and Systems Engineering, University of Rhode Island, Kingston, RI 02881, USA;2. Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA;3. School of Mechanical and Electrical Engineering, Longyan University, Longyan 364012, China;1. College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, and Jiangsu Engineering Lab for IOT Intelligent Robots(IOTRobot), Nanjing 210023, PR China;2. School of Artificial Intelligence and Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Luoyu Road 1037, Wuhan 430074, PR China |
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| Abstract: | This paper investigates the semi-global cooperative cluster output regulation problem of heterogeneous multi-agent systems with input saturation, the exosystems for each cluster can be different. To avoid using global information (e.g., the minimal nonzero eigenvalue of the Laplacian matrix) in the control protocol, an adaptive dynamic compensator is proposed to estimate exosystem’s state in fully distributed manner. A dynamic event-triggering mechanism with adaptive parameter is proposed in order to reduce the usage of communication resources. Low-gain feedback technique is utilized to deal with the influence of input saturation, and Lypunov-based stability analysis results are obtained. Moreover, it is formally shown that Zeno behavior can be excluded. The superiority of the proposed methods includes: the agents in each cluster are also heterogeneous, which is essentially different from 1]; the event-triggered control strategy does not depend on any global information; and the influence of saturation nonlinearity can be eliminated with low-gain feedback. Finally, a numerical example is provided to illustrate the effectiveness of the proposed methods. |
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