Cluster cooperative output regulation of heterogeneous linear multi-agent systems with multiple leaders
Yanming Wu, Zhanshan Wang, Guotao Hui, Huaguang Zhang · 2016
This paper investigates the cluster output consensus of heterogeneous linear multi-agent systems, where the agents are coupled. The aim is to regulate the outputs of the agents tracking the reference signals, which belongs to the different cluster. Because some agents can not access the information of the exosystem, the distributed compensator is reconstructed via local interaction, where the coupling gain matrix can be obtained by solving related algebraic Riccati equation. This paper proposes multiple leaders control law for each agent, and provide sufficient algebraic condition of the parameters which relate to the interaction graph. Finally, simulation examples are provided to verify the effectiveness of the proposed approach.