Cooperative Output Regulation of Heterogeneous Multi-Agent Systems: An $H_{\infty}$ Criterion
- 3 July 2013
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 59 (1), 267-273
- https://doi.org/10.1109/tac.2013.2272133
Abstract
In this note, the cooperative output regulation problem of heterogeneous linear multi-agent systems is investigated. Our approach is based on internal model and dynamic error feedback among the agents. Under some standard assumptions, the problem is solved by an internal model and a stabilizing H∞ controller. We showed that the exo-signal-free system is stabilized if each controlled agent is robust (in the sense of H∞ norm) to resist the disturbance measured by the second largest eigenvalue of the graph adjacency matrix. Then the synthesis problem is solved using algebraic Riccati equation. Furthermore, we showed that this condition is a generalization of existing results.Keywords
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