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Cooperative Output Regulation of Multi-Agent Systems With Switched Leader Dynamics via Smooth Switching

[+] Author Affiliations
Chengzhi Yuan

University of Rhode Island, Kingston, RI

Fen Wu

North Carolina State University, Raleigh, NC

Chang Duan

Prairie View A&M University, Prairie View, TX

Paper No. DSCC2017-5055, pp. V002T14A001; 10 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


This paper deals with the leader-following cooperative output regulation problem for heterogeneous multi-agent systems by considering a switched leader dynamics. The switched leader dynamics is composed by multiple linear models and a switching rule governing the switches among them, which is capable of generating more diverse and sophisticated reference signals so as to enhance the multi-agent system’s capability in coping with more complicated coordination tasks. A novel distributed switching control scheme, namely, the smooth switching control strategy, is proposed to achieve cooperative output regulation performance. Distributed switching stability of the overall network is established using multiple Lyapunov functions from the switching control theory. Moreover, under the proposed design framework, the overall cooperative switching output regulation problem can be decomposed into several independent switching stabilization subproblems, and the associated switching control synthesis conditions for each subproblems are formulated as a set of linear matrix inequalities (LMIs) plus linear algebraic equations. As a result, stabilizing switching rules for the leader and distributed switching protocols for the follower agents can be jointly synthesized via semi-definite programming. A numerical example has been used to demonstrate the effectiveness of the proposed approach.

Copyright © 2017 by ASME



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