On Control of Heterogeneous Multiagent Systems: A Dynamic Measurement Output Feedback Approach
Selahattin Burak Sarsılmaz, Tansel Yucelen · 2018
Recent research by the authors focuses on distributed control of heterogeneous linear time-invariant multiagent systems, which are subject to unknown external disturbances and track a leader with unknown dynamics, when follower agents have full access to their own states. In this paper, we generalize our recent results to achieve the same objective when follower agents have partial access to their own states. Specifically, a detectability assumption is incorporated and local state observer is used for each follower agent to estimate their own states. We first state a global sufficient condition for uniform ultimate boundedness of the output tracking error between the output of each heterogeneous follower agent and the output of the leader. The conditions when this result reduces to asymptotic synchronization are also presented. Then, an agent-wise local sufficient condition is obtained building on the results of our recent work. Finally, we provide two illustrative numerical examples to demonstrate the efficacy of the proposed distributed control architecture.