Observer‐based consensus control for heterogeneous multi‐agent systems with intermittent communications
Yuhang Zhang, Yulian Jiang, Shenquan Wang, Xiaolin Ai · International Journal of Robust and Nonlinear Control · 2021
Abstract In this article, the output consensus tracking problem for a class of heterogeneous multiagent systems (HMASs) with intermittent communications is studied. We first design a local observer for each agent to estimate unmeasurable state information of followers', and an adaptive distributed estimator is constructed for each follower to estimate the leader's state. Then a type of switched and distributed tracking controllers for HMASs are established under the intermittent communications, and relative parameters of the novel controllers are designed via the constructed regulation equation. Furthermore, by using the switching system theory and LMI technology, both the sufficient conditions for HMASs to achieve output consensus tracking and the threshold of communication rate are obtained, and simultaneously the controller gain and observer gain matrices are constructed. Finally, a simulation example is provided for general HMASs to verify the correctness and effectiveness of the proposed method.