Skip to main content
Top

2024 | OriginalPaper | Chapter

11. A Distributed Adaptive Control Approach to Cooperative Output Regulation of a Class of Heterogeneous Uncertain Multi-agent Systems

Authors : Selahattin Burak Sarsılmaz, Ahmet Taha Koru, Tansel Yucelen, Behçet Açıkmeşe

Published in: Control of Autonomous Aerial Vehicles

Publisher: Springer Nature Switzerland

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

We propose a distributed adaptive control approach to the cooperative output regulation problem for a class of heterogeneous uncertain multi-agent systems over general directed graphs. This approach breaks the original problem into two problems: (i) cooperative linear output regulation with an internal model-based distributed control; (ii) model reference adaptive control for each agent. Specifically, a distributed reference model characterizing the desired closed-loop response is constructed by solving the first problem. We show that the output of this reference model is tracked by the uncertain multi-agent system while keeping all the state variables of the closed-loop system bounded by solving the second problem. The decoupling between these two problems is achieved by a new decoupling virtual tracking error (that is, information exchange between agents). A numerical example demonstrates an application of the proposed approach to a heterogeneous multi-vehicle system consisting of unmanned aerial and ground vehicles in formation.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Literature
1.
go back to reference Davison EJ (1976) The robust control of a servomechanism problem for linear time-invariant multivariable systems. IEEE Trans Autom Control 21(1):25–34 MathSciNetCrossRefMATH Davison EJ (1976) The robust control of a servomechanism problem for linear time-invariant multivariable systems. IEEE Trans Autom Control 21(1):25–34 MathSciNetCrossRefMATH
4.
go back to reference Byrnes CI, Delli Priscoli F, Isidori A (1997) Output regulation of uncertain nonlinear systems. Birkhäuser Byrnes CI, Delli Priscoli F, Isidori A (1997) Output regulation of uncertain nonlinear systems. Birkhäuser
5.
go back to reference Huang J (2004) Nonlinear output regulation: theory and applications. SIAM Huang J (2004) Nonlinear output regulation: theory and applications. SIAM
6.
go back to reference Wang X, Hong Y, Huang J, Jiang Z-P (2010) A distributed control approach to a robust output regulation problem for multi-agent linear systems. IEEE Trans Autom Control 55(12):2891–2895 MathSciNetCrossRefMATH Wang X, Hong Y, Huang J, Jiang Z-P (2010) A distributed control approach to a robust output regulation problem for multi-agent linear systems. IEEE Trans Autom Control 55(12):2891–2895 MathSciNetCrossRefMATH
7.
8.
go back to reference Hong Y, Wang X, Jiang Z-P (2013) Distributed output regulation of leader-follower multi-agent systems. Int J Robust Nonlinear Control 23(1):48–66 MathSciNetCrossRefMATH Hong Y, Wang X, Jiang Z-P (2013) Distributed output regulation of leader-follower multi-agent systems. Int J Robust Nonlinear Control 23(1):48–66 MathSciNetCrossRefMATH
9.
go back to reference Su Y, Hong Y, Huang J (2013) A general result on the robust cooperative output regulation for linear uncertain multi-agent systems. IEEE Trans Autom Control 58(5):1275–1279 MathSciNetCrossRefMATH Su Y, Hong Y, Huang J (2013) A general result on the robust cooperative output regulation for linear uncertain multi-agent systems. IEEE Trans Autom Control 58(5):1275–1279 MathSciNetCrossRefMATH
10.
go back to reference Ding Z (2013) Consensus output regulation of a class of heterogeneous nonlinear systems. IEEE Trans Autom Control 58(10):2648–2653 MathSciNetCrossRefMATH Ding Z (2013) Consensus output regulation of a class of heterogeneous nonlinear systems. IEEE Trans Autom Control 58(10):2648–2653 MathSciNetCrossRefMATH
11.
go back to reference Huang C, Ye X (2014) Cooperative output regulation of heterogeneous multi-agent systems: an \({H}_{\infty }\) criterion. IEEE Trans Autom Control 59(1):267–273 MathSciNetCrossRefMATH Huang C, Ye X (2014) Cooperative output regulation of heterogeneous multi-agent systems: an \({H}_{\infty }\) criterion. IEEE Trans Autom Control 59(1):267–273 MathSciNetCrossRefMATH
12.
go back to reference Ding Z (2015) Adaptive consensus output regulation of a class of nonlinear systems with unknown high-frequency gain. Automatica 51:348–355 MathSciNetCrossRefMATH Ding Z (2015) Adaptive consensus output regulation of a class of nonlinear systems with unknown high-frequency gain. Automatica 51:348–355 MathSciNetCrossRefMATH
13.
go back to reference Su Y, Huang J (2015) Cooperative global robust output regulation for nonlinear uncertain multi-agent systems in lower triangular form. IEEE Trans Autom Control 60(9):2378–2389 MathSciNetCrossRefMATH Su Y, Huang J (2015) Cooperative global robust output regulation for nonlinear uncertain multi-agent systems in lower triangular form. IEEE Trans Autom Control 60(9):2378–2389 MathSciNetCrossRefMATH
14.
go back to reference Xu D, Wang X, Hong Y, Jiang Z-P (2016) Global robust distributed output consensus of multi-agent nonlinear systems: an internal model approach. Syst Control Lett 87:64–69 MathSciNetCrossRefMATH Xu D, Wang X, Hong Y, Jiang Z-P (2016) Global robust distributed output consensus of multi-agent nonlinear systems: an internal model approach. Syst Control Lett 87:64–69 MathSciNetCrossRefMATH
15.
go back to reference Li Z, Chen MZ, Ding Z (2016) Distributed adaptive controllers for cooperative output regulation of heterogeneous agents over directed graphs. Automatica 68:179–183 MathSciNetCrossRefMATH Li Z, Chen MZ, Ding Z (2016) Distributed adaptive controllers for cooperative output regulation of heterogeneous agents over directed graphs. Automatica 68:179–183 MathSciNetCrossRefMATH
16.
go back to reference Bechlioulis CP, Rovithakis GA (2017) Decentralized robust synchronization of unknown high order nonlinear multi-agent systems with prescribed transient and steady state performance. IEEE Trans Autom Control 62(1):123–134 MathSciNetCrossRefMATH Bechlioulis CP, Rovithakis GA (2017) Decentralized robust synchronization of unknown high order nonlinear multi-agent systems with prescribed transient and steady state performance. IEEE Trans Autom Control 62(1):123–134 MathSciNetCrossRefMATH
17.
go back to reference Lu M, Liu L (2017) Cooperative output regulation of linear multi-agent systems by a novel distributed dynamic compensator. IEEE Trans Autom Control 62(12):6481–6488 MathSciNetCrossRefMATH Lu M, Liu L (2017) Cooperative output regulation of linear multi-agent systems by a novel distributed dynamic compensator. IEEE Trans Autom Control 62(12):6481–6488 MathSciNetCrossRefMATH
18.
go back to reference Cai H, Lewis FL, Hu G, Huang J (2017) The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems. Automatica 75:299–305 MathSciNetCrossRefMATH Cai H, Lewis FL, Hu G, Huang J (2017) The adaptive distributed observer approach to the cooperative output regulation of linear multi-agent systems. Automatica 75:299–305 MathSciNetCrossRefMATH
19.
go back to reference Cai H, Hu G (2017) Cooperative output regulation for a class of nonlinear heterogeneous multi-agent systems. In: 2017 29th Chinese control and decision conference (CCDC), pp 921–928 Cai H, Hu G (2017) Cooperative output regulation for a class of nonlinear heterogeneous multi-agent systems. In: 2017 29th Chinese control and decision conference (CCDC), pp 921–928
20.
go back to reference Liang H, Zhang H (2019) Cooperative tracking control and regulation for a class of multi-agent systems. Springer Liang H, Zhang H (2019) Cooperative tracking control and regulation for a class of multi-agent systems. Springer
21.
go back to reference Wang L, Wen C, Su H (2019) Cooperative semiglobal robust output regulation of non-introspective nonlinear agents with partial normal form and state-dependent high-frequency gain. IEEE Trans Control Netw Syst 6(1):388–402 MathSciNetCrossRefMATH Wang L, Wen C, Su H (2019) Cooperative semiglobal robust output regulation of non-introspective nonlinear agents with partial normal form and state-dependent high-frequency gain. IEEE Trans Control Netw Syst 6(1):388–402 MathSciNetCrossRefMATH
22.
go back to reference Yang R, Zhang H, Feng G, Yan H, Wang Z (2019) Robust cooperative output regulation of multi-agent systems via adaptive event-triggered control. Automatica 102:129–136 MathSciNetCrossRefMATH Yang R, Zhang H, Feng G, Yan H, Wang Z (2019) Robust cooperative output regulation of multi-agent systems via adaptive event-triggered control. Automatica 102:129–136 MathSciNetCrossRefMATH
23.
go back to reference Huang B, Meng Z (2019) Cooperative output regulation for a group of nonlinear systems with limited information exchange: a distributed observer approach. Syst Control Lett 128:46–55 MathSciNetCrossRefMATH Huang B, Meng Z (2019) Cooperative output regulation for a group of nonlinear systems with limited information exchange: a distributed observer approach. Syst Control Lett 128:46–55 MathSciNetCrossRefMATH
24.
go back to reference Liu T, Huang J (2019) Cooperative robust output regulation for a class of nonlinear multi-agent systems subject to a nonlinear leader system. Automatica 108:108501 MathSciNetCrossRef Liu T, Huang J (2019) Cooperative robust output regulation for a class of nonlinear multi-agent systems subject to a nonlinear leader system. Automatica 108:108501 MathSciNetCrossRef
25.
go back to reference Basu H, Yoon SY (2020) Robust cooperative output regulation under exosystem detectability constraint. Int J Control 93(5):1102–1114 MathSciNetCrossRefMATH Basu H, Yoon SY (2020) Robust cooperative output regulation under exosystem detectability constraint. Int J Control 93(5):1102–1114 MathSciNetCrossRefMATH
26.
go back to reference Sarsilmaz SB, Yucelen T (2021) A distributed control approach for heterogeneous linear multiagent systems. Int J Control 94(5):1402–1414 MathSciNetCrossRefMATH Sarsilmaz SB, Yucelen T (2021) A distributed control approach for heterogeneous linear multiagent systems. Int J Control 94(5):1402–1414 MathSciNetCrossRefMATH
27.
go back to reference Koru AT, Sarsılmaz SB, Yucelen T, Johnson EN (2021) Cooperative output regulation of heterogeneous multiagent systems: a global distributed control synthesis approach. IEEE Trans Autom Control 66(9):4289–4296 MathSciNetCrossRefMATH Koru AT, Sarsılmaz SB, Yucelen T, Johnson EN (2021) Cooperative output regulation of heterogeneous multiagent systems: a global distributed control synthesis approach. IEEE Trans Autom Control 66(9):4289–4296 MathSciNetCrossRefMATH
28.
go back to reference Koru AT, Sarsılmaz SB, Yucelen T, Muse JA, Lewis FL, Açıkmeşe B (2023) Regional eigenvalue assignment in cooperative linear output regulation. IEEE Trans Autom Control 68(7):4265–4272 Koru AT, Sarsılmaz SB, Yucelen T, Muse JA, Lewis FL, Açıkmeşe B (2023) Regional eigenvalue assignment in cooperative linear output regulation. IEEE Trans Autom Control 68(7):4265–4272
29.
go back to reference Yucelen T, Johnson EN (2013) Control of multivehicle systems in the presence of uncertain dynamics. Int J Control 86(9):1540–1553 MathSciNetCrossRefMATH Yucelen T, Johnson EN (2013) Control of multivehicle systems in the presence of uncertain dynamics. Int J Control 86(9):1540–1553 MathSciNetCrossRefMATH
30.
go back to reference Peng Z, Wang D, Zhang H, Sun G (2014) Distributed neural network control for adaptive synchronization of uncertain dynamical multiagent systems. IEEE Trans Neural Netw Learn Syst 25(8):1508–1519 CrossRef Peng Z, Wang D, Zhang H, Sun G (2014) Distributed neural network control for adaptive synchronization of uncertain dynamical multiagent systems. IEEE Trans Neural Netw Learn Syst 25(8):1508–1519 CrossRef
31.
go back to reference Li Z, Duan Z, Lewis FL (2014) Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties. Automatica 50(3):883–889 MathSciNetCrossRefMATH Li Z, Duan Z, Lewis FL (2014) Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties. Automatica 50(3):883–889 MathSciNetCrossRefMATH
32.
go back to reference Hashim HA, El-Ferik S, Lewis FL (2019) Neuro-adaptive cooperative tracking control with prescribed performance of unknown higher-order nonlinear multi-agent systems. Int J Control 92(2):445–460 MathSciNetCrossRefMATH Hashim HA, El-Ferik S, Lewis FL (2019) Neuro-adaptive cooperative tracking control with prescribed performance of unknown higher-order nonlinear multi-agent systems. Int J Control 92(2):445–460 MathSciNetCrossRefMATH
33.
go back to reference Katsoukis I, Rovithakis GA (2022) A low complexity robust output synchronization protocol with prescribed performance for high-order heterogeneous uncertain mimo nonlinear multiagent systems. IEEE Trans Autom Control 67(6):3128–3133 MathSciNetCrossRefMATH Katsoukis I, Rovithakis GA (2022) A low complexity robust output synchronization protocol with prescribed performance for high-order heterogeneous uncertain mimo nonlinear multiagent systems. IEEE Trans Autom Control 67(6):3128–3133 MathSciNetCrossRefMATH
34.
go back to reference Sarsilmaz SB, Yucelen T, Oswald T (2018) A distributed adaptive control approach for heterogeneous uncertain multiagent systems. In: 2018 AIAA guidance, navigation, and control conference Sarsilmaz SB, Yucelen T, Oswald T (2018) A distributed adaptive control approach for heterogeneous uncertain multiagent systems. In: 2018 AIAA guidance, navigation, and control conference
35.
go back to reference Yildirim E, Sarsilmaz SB, Yucelen T (2019) Application of a distributed adaptive control approach to a heterogeneous multiagent mechanical platform. In: AIAA Scitech 2019 forum Yildirim E, Sarsilmaz SB, Yucelen T (2019) Application of a distributed adaptive control approach to a heterogeneous multiagent mechanical platform. In: AIAA Scitech 2019 forum
36.
go back to reference Su Y, Huang J (2012) Cooperative output regulation with application to multi-agent consensus under switching network. IEEE Trans Syst Man Cybern Part B (Cybern) 42(3):864–875 Su Y, Huang J (2012) Cooperative output regulation with application to multi-agent consensus under switching network. IEEE Trans Syst Man Cybern Part B (Cybern) 42(3):864–875
37.
go back to reference Ren W, Beard RW (2008) Distributed consensus in multi-vehicle cooperative control. Springer Ren W, Beard RW (2008) Distributed consensus in multi-vehicle cooperative control. Springer
38.
go back to reference Mesbahi M, Egerstedt M (2010) Graph theoretic methods in multiagent networks. Princeton University Press Mesbahi M, Egerstedt M (2010) Graph theoretic methods in multiagent networks. Princeton University Press
39.
go back to reference Chilali M, Gahinet P (1996) \(\mathit{H}_{\infty }\) design with pole placement constraints: an LMI approach. IEEE Trans Autom Control 41(3):358–367 MathSciNetCrossRefMATH Chilali M, Gahinet P (1996) \(\mathit{H}_{\infty }\) design with pole placement constraints: an LMI approach. IEEE Trans Autom Control 41(3):358–367 MathSciNetCrossRefMATH
40.
go back to reference Dydek ZT, Annaswamy AM, Lavretsky E (2013) Adaptive control of quadrotor UAVs: a design trade study with flight evaluations. IEEE Trans Control Syst Technol 21(4):1400–1406 CrossRef Dydek ZT, Annaswamy AM, Lavretsky E (2013) Adaptive control of quadrotor UAVs: a design trade study with flight evaluations. IEEE Trans Control Syst Technol 21(4):1400–1406 CrossRef
41.
go back to reference Lavretsky E, Wise KA (2013) Robust and adaptive control with aerospace applications. Springer Lavretsky E, Wise KA (2013) Robust and adaptive control with aerospace applications. Springer
42.
go back to reference Anderson RB, Marshall JA, L’Afflitto A (2021) Constrained robust model reference adaptive control of a tilt-rotor quadcopter pulling an unmodeled cart. IEEE Trans Aerosp Electron Syst 57(1):39–54 CrossRef Anderson RB, Marshall JA, L’Afflitto A (2021) Constrained robust model reference adaptive control of a tilt-rotor quadcopter pulling an unmodeled cart. IEEE Trans Aerosp Electron Syst 57(1):39–54 CrossRef
43.
go back to reference Yucelen T (2019) Model reference adaptive control. Wiley encyclopedia of electrical and electronics engineering Yucelen T (2019) Model reference adaptive control. Wiley encyclopedia of electrical and electronics engineering
44.
go back to reference Lewis FL, Zhang H, Hengster-Movric K, Das A (2014) Cooperative control of multi-agent systems: optimal and adaptive design approaches. Springer Lewis FL, Zhang H, Hengster-Movric K, Das A (2014) Cooperative control of multi-agent systems: optimal and adaptive design approaches. Springer
46.
go back to reference Khalil HK (2002) Nonlinear systems. Prentice Hall Khalil HK (2002) Nonlinear systems. Prentice Hall
47.
48.
go back to reference Hespanha JP (2009) Linear systems theory. Princeton University Press Hespanha JP (2009) Linear systems theory. Princeton University Press
49.
go back to reference Boyd S, El Ghaoui L, Feron E, Balakrishnan V (1994) Linear matrix inequalities in system and control theory. SIAM Boyd S, El Ghaoui L, Feron E, Balakrishnan V (1994) Linear matrix inequalities in system and control theory. SIAM
50.
go back to reference Nguyen NT (2018) Model-reference adaptive control: a primer. Springer Nguyen NT (2018) Model-reference adaptive control: a primer. Springer
51.
go back to reference Bouabdallah S, Murrieri P, Siegwart R (2004) Design and control of an indoor micro quadrotor. In: IEEE international conference on robotics and automation. Proceedings. ICRA’04, vol 5, pp 4393–4398 Bouabdallah S, Murrieri P, Siegwart R (2004) Design and control of an indoor micro quadrotor. In: IEEE international conference on robotics and automation. Proceedings. ICRA’04, vol 5, pp 4393–4398
52.
go back to reference L’Afflitto A (2017) A mathematical perspective on flight dynamics and control. Springer L’Afflitto A (2017) A mathematical perspective on flight dynamics and control. Springer
53.
go back to reference Pin FG, Killough SM (1994) A new family of omnidirectional and holonomic wheeled platforms for mobile robots. IEEE Trans Robot Autom 10(4):480–489 CrossRef Pin FG, Killough SM (1994) A new family of omnidirectional and holonomic wheeled platforms for mobile robots. IEEE Trans Robot Autom 10(4):480–489 CrossRef
Metadata
Title
A Distributed Adaptive Control Approach to Cooperative Output Regulation of a Class of Heterogeneous Uncertain Multi-agent Systems
Authors
Selahattin Burak Sarsılmaz
Ahmet Taha Koru
Tansel Yucelen
Behçet Açıkmeşe
Copyright Year
2024
DOI
https://doi.org/10.1007/978-3-031-39767-7_11

Premium Partner