Cooperative Output Regulation of Networked Multi-Agent Systems with Switching Topology

摘要

The cooperative control problems of multi-agent systems arise from such engineering applications as coordination of warships, formation of flights, synchronization of satellites and so on, and have attracted extensive attention from the control community over the past decade. More recently, as a generalization of several cooperative control problems such as consensus, synchronization and formation, the cooperative output regulation problem of multi-agent systems has emerged as one of the central cooperative control problems of multi-agent systems. The objective of this problem is to achieve the asymptotic tracking and disturbance rejection in an uncertain multi-agent system by a distributed control law.;Up to now, the cooperative output regulation problem has been widely studied for linear multi-agent systems and nonlinear multi-agent systems with static communication network. However, in a more practical scenario, the communication topology is switched due to the failures or reconstructions of the communication links or nodes in a multi-agent system. Thus it is more practical and interesting to consider the cooperative output regulation problem for multi-agent systems with switching network. It is well-known that the cooperative output regulation problem can be converted to the stabilization problem of a well-defined augmented system via the internal model principle. Thus the key for dealing with the cooperative output regulation problem of uncertain multi-agent systems subject to switching topology is to find a distributed switching control law to globally stabilize various augmented systems. In this thesis, we will study the cooperative output regulation problem for uncertain minimum-phase linear multi-agent systems and several classes of uncertain nonlinear multi-agent systems subject to switching topology via two approaches: multiple Lyapunov functions with average dwell time method, and adaptive distributed observer method. (Abstract shortened by ProQuest.).