Cooperative Output Regulation of Multi-Agent Systems with Single-Integrator Dynamics
Luka Martinović, Žarko Zečević, Božo Krstajić · 2020
In this paper, the cooperative reference tracking of multi-agent systems with single-integrator dynamics is considered. The proposed control strategy belongs to the leader-follower methodology. Each follower shares its state with neighboring agents, while also implementing local feedback that ensures stability. The role of the leaders is to provide a control law for the network of the followers in order to achieve asymptotic convergence of tracking error to zero, which is accomplished by solving the regulator equations. Furthermore, the need for an observer design and thus communication between leaders is eliminated. Simulation results show superior performance of the proposed algorithm compared to other methods.