Cooperative Adaptive Output Regulation for Lower Triangular Nonlinear Multi-Agent Systems Subject to Jointly Connected Switching Networks

The cooperative global robust output regulation problem for multi-agent systems is a generalization of the leader-following consensus problem. The problem has been studied for various multi-agent systems over connected static networks and for some special classes of nonlinear multi-agent systems ove...

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Bibliographic Details
Published in:IEEE transaction on neural networks and learning systems Vol. 31; no. 5; pp. 1724 - 1734
Main Authors: Liu, Wei, Huang, Jie
Format: Journal Article
Language:English
Published: United States IEEE 01.05.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Adaptation models
Adaptive distributed observer
Adaptive systems
cooperative output regulation
Eigenvalues and eigenfunctions
Inverse dynamics
learning control
Lorenz system
Multi-agent systems
Multiagent systems
Networks
nonlinear multi-agent systems
Nonlinear systems
Observers
Recursive methods
Regulation
Subsystems
Switches
Switching
switching networks
ISSN:2162-237X, 2162-2388, 2162-2388
Online Access:Get full text
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Summary:The cooperative global robust output regulation problem for multi-agent systems is a generalization of the leader-following consensus problem. The problem has been studied for various multi-agent systems over connected static networks and for some special classes of nonlinear multi-agent systems over jointly connected switching networks. In this paper, we further consider the same problem for a class of heterogeneous lower triangular nonlinear multi-agent systems over jointly connected switching networks. This class of systems is quite general in that it contains inverse dynamics, is of any order, and its subsystems can have different relative degrees. We will integrate the adaptive distributed observer and the distributed internal model approach to come up with a recursive approach to deal with our problem. We will also apply our approach to a leader-following consensus problem for a group of hyperchaotic Lorenz systems.
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ISSN:2162-237X
2162-2388
2162-2388
DOI:10.1109/TNNLS.2019.2922174