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《Journal of Systems Science and Mathematical Sciences》 2019-06
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Cooperative Output Regulation of Heterogeneous Multi-Agent System Based on Topology Switching

MA Yangqin;WEI Wenjun;LI Zonggang;Department of Track Electricity, Chongqing Vocational College of Public Transportation;School of Automation&Electrical Engineering, Lanzhou Jiaotong University;School of Mechanical Engineering, Lanzhou Jiaotong University;  
In light of the heterogeneous multi-agent output regulation systems with topology switching,considering that some agents in the system can't get the control state of the external system and topology of the system changes with time,a kind of switching controller based on the distributed output feedback state observer is designed.The sufficient conditions for solving the problem of multi-agent output regulation problem under topology switching is given,which is related to control parameters and communication topology.Based on the method of graph theory and matrix analysis,the Lyapunov function is designed,and the stability of the system is proved.Finally,the corresponding Matlab simulation experiment is given.The research results show that the output of multi-agent can still track and converge to external system under topology switching condition.
【Fund】: 国家自然科学基金项目(61663020);; 国家重点研发计划资助(2017YFB1201003-020);; 甘肃省自然科学基金(17JR5RA096)资助课题
【CateGory Index】: TP13
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