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Semi-global weighted output average tracking of discrete-time heterogeneous multi-agent systems subject to input saturation and external disturbances

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Abstract

In this paper, we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances. The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents. We design both the state feedback and output feedback control protocols for each follower agent. In particular, a distributed state observer is designed for each follower agent that estimates the state of each leader agent. In the output feedback case, state observer is also designed for each follower agent to estimate its own state. With these estimates, we design low gain-based distributed control protocols, parameterized in a scalar low gain parameter. It is shown that, for any bounded set of the initial conditions, these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small. Simulation results illustrate the validity of the theoretical results.

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Qilin Song & Yuanlong Li

  2. Department of Electrical Engineering, University of Texas at Arlington, Arlington, 76019, TX, USA

    Yijing Xie

  3. Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, 22904-4743, VA, USA

    Zongli Lin

Authors
  1. Qilin Song
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  2. Yuanlong Li
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  3. Yijing Xie
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Corresponding author

Correspondence to Zongli Lin.

Additional information

The work of Qilin Song and Yuanlong Li was supported in part by the National Natural Science Foundation of China (Nos. 62022055, 61973215).

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Song, Q., Li, Y., Xie, Y. et al. Semi-global weighted output average tracking of discrete-time heterogeneous multi-agent systems subject to input saturation and external disturbances. Control Theory Technol. 21, 315–333 (2023). https://doi.org/10.1007/s11768-023-00160-z

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  • DOI: https://doi.org/10.1007/s11768-023-00160-z

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