Robust Suboptimal Output Synchronization of Nonlinear Heterogeneous Agents
Reza Babazadeh, Masoud Roudneshin, Rastko R. Šelmić, Amir G. Aghdam · 2020
In this paper, the problem of output synchronization of a set of nonlinear heterogeneous systems is investigated. The steering scenario is such that, subject to bounded uncertainties, the output of each of the agents will track the output of a generated reference command asymptotically. The structure of the controller is designed in such a way to tackle the problem in two steps. In the first step, local exosystems associated to each of the agents are designed. Consensus achievement among these exosystems is guaranteed provided that the communication graph is connected. In the second step, based on a combination of a state-dependent Riccati equation (SDRE) and integral sliding mode control (ISMC), distributed regulators are designed to track the generated reference command. The proposed controller scheme is proven to be suboptimal in the sense of asymptotically minimizing a quadratic cost functional while maintaining robustness against perturbations. Simulation results are presented to illustrate the efficacy of the proposed method.