论文标题
通过输出反馈对不确定高级多代理系统的最佳共识
Optimal Consensus for Uncertain High-order Multi-agent Systems by Output Feedback
论文作者
论文摘要
最近已经研究了高阶多代理系统的分布式最佳输出共识问题。在本文中，我们进一步关注了受参数不确定性的高阶多代理系统的相同问题，并旨在通过测量输出反馈来分布式鲁棒控制器。我们首先开发一个动态补偿器来估计预期的最佳共识点，并将问题转换为几个分散的强大跟踪问题。然后，通过结合积分控制技术和肮脏的衍生观察者技术，我们建设性地提出了一个分布式的输出反馈积分控制器，以在轻度的图连接条件下解决此问题。
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and aim at distributed robust controllers by measurement output feedback. We first develop a dynamic compensator to estimate the expected optimal consensus point and convert the problem into several decentralized robust tracking problems. Then, by combining the integral control technique and dirty derivative observer technique, we constructively propose a distributed output feedback integral controller to solve this problem under a mild graph connectivity condition.
