Output regulation of linear heterogeneous multi-agent systems
Farnaz Adib Yaghmaie · 2017
FIGURES 5.2 The first outputs of all followers, the leader and its mirror . . . . . .138 5.3 The second outputs of all followers, the leader and its mirror . . . . .138 6.1 Nodes r 1 and r 2 and their common ancestor k and the relevant parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142 6.2 N + 1 agents in three parties.The solid lines represent the inner coupling within the clusters and the dash lines represent the inter coupling between the clusters.The inter cluster coupling weights are not equal to one. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .145 6.3 The communication graph . . . . . . . . . . . . . . . . . . . . . . . .158 6.4 Simultaneous time-invariant formation (6.38) and tracking doubleintegrator (6.36).The 3D trajectories of the followers and the leader.160 6.5 Simultaneous time-invariant formation (6.38) and tracking doubleintegrator (6.36).The plot of formation errors vs. time. . . . . . . . .161 6.6 Simultaneous time-invariant formation (6.41) and tracking circular orbit (6.39).The 3D trajectories of the followers and the leader. . . .162 6.7 Simultaneous time-invariant formation (6.41) and tracking circular orbit (6.39).The 2D trajectories of the followers and the leader in the last 50 seconds of the simulation. . . . . . . . . . . . . . . . . . .163 6.8 The plot of formation errors vs. time . . . . . . . . . . . . . . . . . .164 6.9 Simultaneous time-variant formation (6.43-6.44)and tracking doubleintegrator (6.42).The 3D trajectories of the followers and the leader.166 6.10 Simultaneous time-variant formation (6.43-6.44)and tracking doubleintegrator (6.42).The plot of formation errors vs. time. . . . . . . . .