A Unified Approach to Output Synchronization of Heterogeneous Multi-Agent Systems Via L₂-Gain Design


In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems (MAS) on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents' dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader's dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the p-copy internal model approach. All three proposed control protocols are verified using numerical simulations.


Electrical and Computer Engineering

Keywords and Phrases

Design; Feedback; Feedback Control; State Feedback; Synchronization; Topology; Communication Graphs; Dynamic Output Feedback; Heterogeneous Multi-Agent Systems; Heterogeneous Systems; Output Feedback; Output Synchronization; Small Gain Theorem; Static Output Feedback; Multi Agent Systems; Output-Feedback; Small-Gain Theorem

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Article - Journal

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© 2017 Springer Verlag (Germany), All rights reserved.

Publication Date

01 Nov 2017