2016/04/19 by Kai Cai, Cai, Kai
Computer Science · Engineering · #Advanced Memory and Neural Computing #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Neural Networks Stability and Synchronization #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1604.05481
openalex publication_date 2016/04/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We study a multi-agent output regulation problem, where not all agents have\naccess to the exosystem's dynamics. We propose a distributed controller that\nsolves the problem for linear, heterogeneous, and uncertain agent dynamics as\nwell as time-varying directed networks. The distributed controller consists of\ntwo parts: (1) an exosystem generator that creates a local copy of the\nexosystem dynamics by using consensus protocols, and (2) a dynamic compensator\nthat uses (again) consensus to approach the internal model of the exosystem and\nthereby achieves perfect output regulation. Our approach leverages methods from\ninternal model based controller synthesis, multi-agent consensus over directed\nnetworks, and stability of time-varying linear systems; the derived result is\nan adaptation of the (centralized) internal model principle to the distributed,\nnetworked setting.\n