×

Semi-global cooperative cluster output regulation for heterogeneous multi-agent systems with input saturation. (English) Zbl 1472.93008

Summary: 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 Lyapunov-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 [L. Ren et al., “Semiglobal cluster consensus for heterogeneous systems with input saturation”, IEEE Trans. Cybern. 51, No. 9, 4685–4694 (2021; doi:10.1109/TCYB.2019.2942735)]; 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.

MSC:

93A16 Multi-agent systems
93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory
93C05 Linear systems in control theory
PDFBibTeX XMLCite
Full Text: DOI

References:

[1] to be published
[2] Wang, Y.; Liu, X.; Xiao, J.; Lin, X., Output formation-containment of coupled heterogeneous linear systems under intermittent communication, J. Franklin Inst., 354, 1, 392-414 (2017) · Zbl 1355.93023
[3] Gao, W.; Jiang, Z.; Lewis, F.; Wang, Y., Leader-to-formation stability of multiagent systems: an adaptive optimal control approach, IEEE Trans. Automat. Contr., 63, 10, 3581-3587 (2018) · Zbl 1423.93015
[4] Zhang, C.; Lin, W.; Ke, D.; Sun, Y., Smoothing tie-line power fluctuations for industrial microgrids by demand side control: an output regulation approach, IEEE Trans. Power Syst., 34, 5, 3716-3728 (2019)
[5] Hu, W.; Liu, L.; Feng, G., Robust cooperative output regulation of heterogeneous uncertain linear multi-agent systems by intermittent communication, J. Franklin Inst., 355, 3, 1452-1469 (2019) · Zbl 1393.93035
[6] Qian, Y.; Liu, L.; Feng, G., Distributed dynamic event-triggered control for cooperative output regulation of linear multiagent systems, IEEE Trans. Cybern., 50, 7, 3023-3032 (2020)
[7] Liu, Z.; Yan, W.; Li, H.; Zhang, S., Cooperative output regulation problem of discrete-time linear multi-agent systems with markov switching topologies, J. Franklin Inst., 357, 8, 4795-4816 (2020) · Zbl 1437.93004
[8] Abdessameud, A.; Tayebi, A., Distributed output regulation of heterogeneous linear multi-agent systems with communication constraints, Automatica, 91, 152-158 (2018) · Zbl 1387.93007
[9] Feng, Y.; Xu, S.; Zhang, B., Group consensus control for double-integrator dynamic multi-agent systems with fixed communication topology, Int. J. Robust Nonlinear Control, 24, 3, 532-547 (2014) · Zbl 1284.93016
[10] Zahra, Y., Robust cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller, Math. Comput. Simul., 172, 15-32 (2020) · Zbl 1510.93166
[11] Liu, X.; Chen, T., Cluster synchronization in directed networks via intermittent pinning control, IEEE Trans. Neural Networks, 22, 7, 1009-1020 (2011)
[12] Jin, T.; Liu, Z.; Zhou, H.; Ge, M., Scale-based cluster formation for multi-agent systems with mismatched disturbances, J. Franklin Inst., 356, 13, 7393-7410 (2019) · Zbl 1418.93008
[13] Yaghoubi, Z.; Talebi, H. A., Cluster consensus for nonlinear multi-agent systems, J. Intell. Rob. Syst., 100, 4, 1069-1084 (2020)
[14] Lu, H.; Hu, Y.; Guo, C.; Zhou, W., Cluster synchronization for a class of complex dynamical network system with randomly occurring coupling delays via an improved event-triggered pinning control approach, J. Franklin Inst., 357, 4, 2167-2184 (2019) · Zbl 1451.93374
[15] Gao, W.; Jiang, Z., Adaptive dynamic programming and adaptive optimal output regulation of linear systems, IEEE Trans. Automat. Contr., 61, 12, 4164-4169 (2016) · Zbl 1359.93224
[16] Heemels, W. P.M. H.; Sandee, J. H.; VanDenBosch, P. P.J., Analysis of event-driven controllers for linear systems, Int. J. Robust Nonlinear Control, 81, 4, 571-590 (2008) · Zbl 1152.93423
[17] Dimarogonas, D. V.; Frazzoli, E.; Johansson, K. H., Distributed event triggered control for multi-agent systems, IEEE Trans. Automat. Contr., 57, 5, 1291-1297 (2012) · Zbl 1369.93019
[18] Zhu, W.; Jiang, Z.; Gang, F., Event-based consensus of multi-agent systems with general linear models, Automatica, 50, 2, 552-558 (2014) · Zbl 1364.93489
[19] Zhu, W.; Jiang, Z. P., Event-based leader-following consensus of multi-agent systems with input time delay, IEEE Trans. Automat Contr, 60, 5, 1362-1367 (2015) · Zbl 1360.93268
[20] Hu, W.; Liu, L.; Feng, G., Consensus of linear multi-agent systems by distributed event-triggered strategy, IEEE Trans. Cybern., 46, 1, 148-157 (2016)
[21] Guo, Z.; Chen, G., Event-triggered fixed-time cooperative tracking control for uncertain nonlinear second-order multi-agent systems under directed network topology, IEEE Trans. Cybern., 357, 6, 3345-3364 (2020) · Zbl 1437.93078
[22] Meng, X.; Xie, L.; Soh, Y. C., Event-triggered output regulation of heterogeneous multi-agent networks, IEEE Trans.. Automat. Contr., 63, 12, 4429-4434 (2018) · Zbl 1423.93026
[23] Wu, Y.; Wang, Z.; Zhang, H.; Huang, C., Output-based event-triggered consensus of general linear multi-agent systems with communication delay under directed graphs, J. Franklin Inst., 357, 6, 3702-3720 (2020) · Zbl 1437.93124
[24] Zhang, J.; Zhang, H.; Wang, Y.; Wang, W., Cooperative output regulation of heterogeneous linear multi-agent systems via fully distributed event-triggered adaptive control, Neurocomputing, 393, 1, 38-45 (2020)
[25] Wen, G.; Zheng, W., On constructing multiple lyapunov functions for tracking control of multiple agents with switching topologies, IEEE Trans. Automat. Contr., 64, 9, 3796-3803 (2019) · Zbl 1482.93542
[26] Lv, Y.; Fu, J.; Wen, G.; Huang, T.; Yu, X., Fully distributed anti-windup consensus protocols for linear MASs with input saturation: the case with directed topology, IEEE Trans. Cybern., 51, 5, 2359-2371 (2021)
[27] Cheng, B.; Li, Z., Fully distributed event-triggered protocols for linear multiagent networks, IEEE Trans. Automat. Contr., 64, 4, 1655-1662 (2019) · Zbl 1482.93036
[28] Hu, W.; Yang, C.; Huang, T.; Gui, W., A distributed dynamic event-triggered control approach to consensus of linear multiagent systems with directed networks, IEEE Trans. Cybern., 50, 2, 869-874 (2020)
[29] Su, H.; Chen, M. Z.Q.; Lam, J.; Lin, Z., Semi-global leader-following consensus of linear multi-agent systems with input saturation via low gain feedback, IEEE Trans. Circuits Syst. I Regular Pap., 60, 3, 1881-1889 (2013) · Zbl 1468.93035
[30] Yang, T.; Meng, Z.; Dimarogonas, D. V.; Johansson, K. H., Global consensus for discrete-time multi-agent systems with input saturation constraints, Automatica, 50, 2, 499-506 (2014) · Zbl 1364.93036
[31] Wang, B.; Chen, W.; Zhang, B., Semi-global robust tracking consensus for multi-agent uncertain systems with input saturation via metamorphic low-gain feedback, Automatica, 103, 363-373 (2019) · Zbl 1415.93096
[32] Gao, J.; Sun, L.; Xiang, X.; Song, H.; Long, Y., Semi-global cooperative output regulation problem for heterogeneous swarm systems with input saturation under switching network, IEEE Access, 7, 36426-36432 (2019)
[33] Kang, Y.; Qin, J.; Ma, Q.; Gao, H.; Zheng, W. X., Cluster synchronization for interacting clusters of nonidentical nodes via intermittent pinning control, IEEE Trans. Neural Netw. Learn. Syst., 29, 5, 1746-1759 (2018)
[34] Qin, J.; Ma, Q.; Gao, H.; Shi, Y.; Kang, Y., On group synchronization for interacting clusters of heterogeneous systems, IEEE Trans. Cybern., 47, 12, 4122-4133 (2017)
[35] Liu, X.; Chen, T., Finite-time and fixed-time cluster synchronization with or without pinning control, IEEE Trans. Cybern., 48, 1, 240-252 (2018)
[36] Lin, Z., Low Gain Feedback, London (1999), Springer: Springer London, UK
[37] Lin, Z.; Stoorvogel, A.; Saberi, A., Output regulation for linear systems subject to input saturation, Automatica, 32, 1, 29-47 (1996) · Zbl 0847.93024
[38] Yu, C.; Qin, J.; Gao, H., Cluster synchronization in directed networks of partial-state coupled linear systems under pinning control, Automatica, 50, 9, 2341-2349 (2014) · Zbl 1297.93019
[39] Zhao, Y.; Wang, H.; Liu, Z.; Li, Y., Cluster-based cooperative output regulation of linear multi-agent systems, IEEE Access, 7, 165478-165487 (2019)
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.