Output Average Consensus Over Heterogeneous Multi-Agent Systems via Two-Level Approach

摘要

In this paper, a novel two-level framework was proposed and applied to solvethe output average consensus problem over heterogeneous multi-agent systems.This approach is mainly based on the recent technique of system abstraction.For given multi-agent systems, we first constructed their abstractions as theupper level and solved their average consensus problem by leveraging well-knownresults for single integrators. Then the control protocols for physical agentsin the lower level were synthesized in a hierarchical way by embedding thedesigned law for abstractions into an interface between two levels. In thisway, the complexity coming from heterogeneous dynamics of agents is totallydecoupled from that of the coordination task and the communication topologies.An example was given to show its effectiveness.