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Robust output synchronization of linear multi‐agent systems with constant disturbances via integral control
Author(s) -
Wang Qingling,
Cao Xianghui,
Sun Changyin
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3734
Subject(s) - control theory (sociology) , synchronization (alternating current) , computer science , constant (computer programming) , controller (irrigation) , protocol (science) , observer (physics) , state (computer science) , control (management) , multi agent system , algorithm , artificial intelligence , computer network , programming language , medicine , channel (broadcasting) , physics , alternative medicine , pathology , quantum mechanics , agronomy , biology
Summary This paper solves the robust output synchronization problem for a group of linear agents subject to constant disturbances on directed graphs. A new distributed control protocol with integral action is first proposed with the assumption that each agent has access to its own state. Then, an observer‐based implementation of the control protocol is illustrated for the case that the agents do not have access to their states. Compared with existing methods, the new distributed protocol does not require exchanging of the controller states or output states among neighboring agents. Finally, simulation results of a group of low‐speed experimental unmanned aerial vehicles show the effectiveness of the proposed methods. Copyright © 2017 John Wiley & Sons, Ltd.