Distributed decoupling of linear multiagent systems with interconnected nonlinear uncertainties
Vahid Rezaei, Margareta Stefanovic · 2016
The distributed controllers that have been designed based on the decoupled nominal linear models of agents do not guarantee stabilization of the entire multiagent system in the presence of unknown nonlinearities or agents' inter-connections. In this article, we consider a class of multiagent systems with homogeneous linear time-invariant dynamics in the presence of matched or unmatched heterogeneous inter-connected unknown nonlinearity. We only measure the relative-state information and design distributed decoupling algorithms enabling agents to independently operate at their desired operating conditions. This goal is achieved by reformulating this distributed decoupling task as an equivalent leader-follower consensus problem. Finally, we investigate feasibility of the proposed ideas through simulation studies.