Optimal disturbance rejection controllers design for synchronised output regulation of time‐delayed multi‐agent systems
Fei Ye, Weidong Zhang, Linlin Ou, Guoqing Zhang · IET Control Theory and Applications · 2017
An optimal disturbance rejection controller design method is put forward analytically for the synchronised output regulation of time‐delayed multi‐agent systems (MAS). All kinds of linear MAS can be described by a novel block diagram based on transfer functions in a unified framework. For each subsystem without intercommunication, the optimal output, input and balancing output–input load disturbance rejection controllers are designed independently. A filter is used to be in series with each controller to not only stabilise the whole systems but also achieve a tradeoff between nominal performance and robustness by adjusting a single tuning parameter. The proposed distributed controllers calculated by algebraic solution perform better capacity of disturbance attenuation than the conventional given‐structured protocols. Two simulation examples demonstrate the validity of the new algorithm.