A Lyapunov Approach to Robust Cooperative Output Regulation of Multiagent Systems Under Infinite Communication Delays

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Detail(s)

Original languageEnglish
Pages (from-to)6271-6278
Journal / PublicationIEEE Transactions on Automatic Control
Volume67
Issue number11
Online published10 Jun 2022
Publication statusPublished - Nov 2022

Abstract

This paper investigates the robust cooperative output regulation problem of heterogeneous uncertain linear multi-agent systems with switching topologies and infinite distributed communication delays. A novel distributed observer is proposed for each agent to estimate the state of the so-called exosystem by taking consideration of both switching topologies and infinite distributed communication delays. A distributed output feedback controller is then developed based on the internal model principle and the estimated state without using the prior knowledge of communication delays. It is shown via the newly developed Lyapunov-like method that the robust cooperative output regulation problem can be solved under some mild assumptions. Finally, a numerical example is given to demonstrate the effectiveness of the proposed controller.

Research Area(s)

  • Cooperative output regulation, infinite distributed communication delays, lyapunov-like method, switching topologies