Robust output synchronization of heterogeneous nonlinear agents in uncertain networks

Xi Yang; Fuhua Wan; Mengchuan Tu; Guojiang Shen

doi:10.1016/j.isatra.2017.07.014

Robust output synchronization of heterogeneous nonlinear agents in uncertain networks

ISA Trans. 2017 Nov;71(Pt 1):170-177. doi: 10.1016/j.isatra.2017.07.014. Epub 2017 Jul 27.

Authors

Xi Yang¹, Fuhua Wan², Mengchuan Tu³, Guojiang Shen⁴

Affiliations

¹ College of Computer Science & Technology, Zhejiang University of Technology, Hangzhou, China. Electronic address: xyang@zjut.edu.cn.
² College of Computer Science & Technology, Zhejiang University of Technology, Hangzhou, China. Electronic address: fuhuawan@zjut.edu.cn.
³ College of Computer Science & Technology, Zhejiang University of Technology, Hangzhou, China. Electronic address: tumengchuan@163.com.
⁴ College of Computer Science & Technology, Zhejiang University of Technology, Hangzhou, China. Electronic address: gjshen1975@zjut.edu.cn.

PMID: 28757078
DOI: 10.1016/j.isatra.2017.07.014

Abstract

This paper investigates the global robust output synchronization problem for a class of nonlinear multi-agent systems. In the considered setup, the controlled agents are heterogeneous and with both dynamic and parametric uncertainties, the controllers are incapable of exchanging their internal states with the neighbors, and the communication network among agents is defined by an uncertain simple digraph. The problem is pursued via nonlinear output regulation theory and internal model based design. For each agent, the input-driven filter and the internal model compose the controller, and the decentralized dynamic output feedback control law is derived by using backstepping method and the modified dynamic high-gain technique. The theoretical result is applied to output synchronization problem for uncertain network of Lorenz-type agents.

Keywords: Heterogeneous nonlinear agents; Output synchronization; Uncertain networks.