Adaptive cooperative output regulation of polytopic systems via spectrum estimation: An H∞ perspective. (May 2023)

• Record Type: Journal Article
• Authors: Fu, Chengcheng; Zhang, Hao; Huang, Chao; Wang, Zhuping; Yan, Huaicheng
• Is Part Of: Automatica. Volume 151(2023)
• Publication Date: 2023-05
• Subjects: Cooperative output regulation -- Fully distributed consensus -- Robust control; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2023.110943
• Languages: English
• ISSNs: 0005-1098

Abstract

Abstract: This paper focuses on the fully distributed robust cooperative output regulation of polytopic multi-agent systems. Based on the internal model principle, the problem being studied is first converted into a stabilization problem of interconnected systems without external disturbance. Next, small-gain conditions are characterized to obtain an equivalent H ∞ problem, where the upper bound of the H ∞ performance index is closely associated with the spectral radius of the communication topology correlation matrix. To design adaptive fully distributed control protocols in both state and output feedback settings, a finite-time observer and a topology information estimation algorithm are proposed to avoid global information. Compared with existing related works, our methods do not require global information a priori. Finally, the proposed methodology is applied to numerical and practical examples of multi-pendulum systems to demonstrate the feasibility and applicability of the theoretical results.