Volume 37, Number 3, June 2019
|Page(s)||479 - 487|
|Published online||20 September 2019|
Research on Cooperative Output Regulation Problem of Multi-Agent Systems with Time-Varying Delay under Dynamic Topology
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, 710072, China
The random data loss that occurs during the communication process of multi-agent systems will lead to the dynamic switching of network topology. The time-varying communication delay will cause the agents to update their control inputs irregularly and asynchronously. In this paper, we deal with the cooperative output regulation problem of multi-agent systems with both random data loss and time-varying communication delay. By applying a queuing mechanism, the multi-agent systems with time-varying communication delay can be modeled as the multi-agent systems with constant communication delay and stochastic packet dropout. Based on the queuing mechanism, we designed the distributed state observers of the leader and the followers. Then, a new distributed measurement output feedback control algorithm is proposed. Under some standard assumptions, the proposed algorithm can solve the cooperative output regulation problem of multi-agent systems with both stochastic packet dropout and time-varying communication delay for unstable or stable exosystem. Then, the corresponding conditions for solving the cooperative output regulation problem are given, respectively. The simulation results show that the measurement output feedback control algorithm based on queue mechanism can effectively solve the cooperative output regulation problem of multi agent systems with time-varying delay under dynamic network topology.
Key words: multi-agent systems / dynamic topology / time-varying delay / output regulation problem / queuing mechanism / measurement output feedback control
关键字 : 多智能体系统 / 动态拓扑 / 时变时延 / 输出调节问题 / 队列机制 / 测量输出反馈控制
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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