Output consensus for heterogeneous multi-agent systems with disturbances

摘要

Output consensus control for discrete-time heterogeneous multi-agent systems (MAS) with disturbances is studied, i.e., all agents track a common trajectory in the presence of disturbances by output regulation. There exists a significant challenge in the discrete-time setting for output consensus. Here a multirate approach is proposed to design the feedback controllers for heterogeneous MAS. Then the internal model principle is employed to convert the consensus problem into output stabilization. Finally the effectiveness of the method is shown by a numerical example. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.