| Abstract: |
| This talk investigates the problem of cooperative output regulation of heterogenous linear multi-agent systems where the agent dynamics may be different. A passive framework is presented for the stabilization analysis of cooperative output regulation, which can overcome the difficulty caused by the fact that the global dynamics of heterogeneous multi-agent systems depends on the global communication structure. Based on passivity design, both a distributed state feedback protocol and a distributed output feedback protocol are designed for output synchronization of heterogenous multi-agent systems. The gain matrices of the distributed protocols and observers are obtained by a Riccati equation design approach. Furthermore, sufficient local conditions for solving the problem of cooperative output regulation of heterogenous multi-agent systems are presented. Finally, numerical simulation results are given to illustrate the effectiveness of the proposed distributed control schemes. |
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