Synchronization of Heterogeneous Leader-Follower Multi-Agent System with External Disturbances

摘要

The output synchronization problem is investigated for multiple linear agents with external disturbances that are guided by a leader with different dynamics. A method is presented for designing a networked controller that synchronizes the agents to the heterogeneous leader. First, a general dynamic controller with two inputs is proposed that introduces the model of the leader as an internal reference model into the control loop of all following agents. Second, the two inputs to the local controllers of the followers are designed by H_∞ control theory such that the resulting closed-loop system achieves the output synchronization with a desired disturbance attenuation performance. The proposed method is applied to the leader-follower synchronization of vehicles in a platoon.