Abstract
This paper studies the bipartite output synchronization problem of general linear heterogeneous multiagent systems on signed digraphs. We first show that, for heterogeneous multiagent systems, the bipartite output synchronization over the structurally balanced signed digraphs and the conventional output synchronization over the associated nonnegative digraphs are equivalent. Then, 3 different control protocols, using full-state feedback, static output feedback, and dynamic output feedback are designed at each agent to solve the bipartite output synchronization problem based on solutions to the corresponding output regulator equations. Explicit local design procedures are proposed for all 3 control protocols. The compensators employed in these protocols incorporate only one copy of the virtual exosystem's dynamics, regardless of the dimensions of the outputs. This results in lower-dimensional compensators and controllers and, hence, is more computationally tractable compared to the popular internal model principle-based control protocols. Numerical simulations over 3 different signed communication digraphs validate the proposed control protocols.
| Original language | English |
|---|---|
| Pages (from-to) | 4017-4031 |
| Number of pages | 15 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 28 |
| Issue number | 13 |
| Early online date | 29 May 2018 |
| DOIs | |
| Publication status | Published - 10 Sept 2018 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:Copyright © 2018 John Wiley & Sons, Ltd.
Funding
This work was supported in part by the National Natural Science Foundation of China under grants 61773081 and ECCS-1405173; by the Office of Naval Research under grants N00014-13-1-0562, N00014-14-1-0718, and N00014-17-1-2239; and by the Army Research Office under grant W911NF-11-D-0001.
Keywords
- bipartite output synchronization
- heterogeneous multiagent systems
- signed digraph
- small-gain theorem