Data-driven control of consensus tracking for discrete-time multi-agent systems |
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| Institution: | 1. Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650504, China;2. Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming 650504, China;3. School of Automation, Beijing Institute of Technology, Beijing 100081, China;4. Key Lab of Intelligent Control and Decision of Complex Systems, Beijing 100081, China;1. School of Science, Harbin Institute of Technology, Shenzhen, China;2. School of Automation Science and Engineering, South China University of Technology, Guangzhou, China;3. Pazhou Laboratory, Guangzhou, 510330, China;4. Department of Applied Mathematics, The Hong Kong Polytechnic University, Hung Hom, Hong Kong;5. The Hong Kong Polytechnic University Shenzhen Research Institute, Shenzhen, 518057, China;1. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China;2. Key Laboratory of Data Analytics and Optimization for Smart Industry, Northeastern University, Ministry of Education, China;3. College of Information Science and Engineering, Northeastern University, Shenyang 110819, China;1. Artificial Intelligence Energy Research Institute, Northeast Petroleum University, Daqing, 163318, China;2. Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control, Northeast Petroleum University, Daqing, 163318, China;3. Sanya Offshore Oil & Gas Research Institute, Northeast Petroleum University, Sanya 572025, China;4. School of Petroleum Engineering, Northeast Petroleum University, Daqing, 163318, China;5. Key Laboratory of Enhanced Oil and Gas Recovery (Northeast Petroleum University), Ministry of Education, Daqing, 163318, China;6. School of Physics and Electronic Engineering, Northeast Petroleum University, Daqing, 163318, China |
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| Abstract: | This paper investigates the consensus tracking problem of leader-follower multi-agent systems. Different from most existing works, dynamics of all the agents are assumed completely unknown, whereas some input-output data about the agents are available. It is well known from the Willems et al. Fundamental Lemma that when inputs of a linear time-invariant (LTI) system are persistently exciting, all possible trajectories of the system can be represented in terms of a finite set of measured input-output data. Building on this idea, the present paper proposes a purely data-driven distributed consensus control policy which allows all the follower agents to track the leader agent’s trajectory. It is shown that for a linear discrete-time multi-agent system, the corresponding controller can be designed to ensure the global synchronization with local data. Even if the data are corrupted by noises, the proposed approach is still applicable under certain conditions. Numerical examples corroborate the practical merits of the theoretical results. |
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