Distributed observer-based cooperative control for output regulation in multi-agent linear parameter-varying systems

摘要

In this paper, output regulation problem is examined for a class of heterogeneous multi-agent systems, whose dynamics are governed by affine linear parameter-varying (LPV) models, with a known communication topology. In the proposed solution method, the agents are divided into two groups depending on whether or not their output is directly affected by external (such as reference or disturbance) inputs. Conditions for cooperative LPV control synthesis are first constructed through the design of distributed observers. To establish these conditions, the solution to a time-varying Sylvester equation is required. An offline solution to this equation will be proposed to calculate and update the controller state-space matrices. The proposed design methodologies of this study are finally validated using a numerical example.