Cooperative Output Regulation Problem Of Linear Multi-Agent System Under Dynamic Network Topologies

With the rapid development of computer technology,network communication technology,artificial intelligence technology,and modern control theory,the consensus problem of multi-agent systems has become one of the central research topics in different research fields.Because the leader-follower consensus problem of multi-agent systems can realize the effect of controlling the whole multi-agent systems by controlling a few of them,it has become one of the core issues of consensus problems and has been widely used in various fields,such as science and technology,engineering and military,etc.Cooperative output regulation of multi-agent systems is a special kind of leader-follower consensus problem with a single leader.In this kind of consensus problem,the followers need to track the state of the leader while subjecting to a disturbance.The state of the leader and disturbance are collectively referred to as exogenous signals which are generated by a so-called autonomous exosystem.There have been a lot of research results on the output regulation problem of multi-agent systems with static communication network topology.With the rapid development of communication technology,the wireless network is usually used in the multi-agent system for data transmission to meet the requirements of complex application environments.Thus,some unexpected events may inevitably occur during the communication process,such as data packet dropout,node failure and link failure,etc.Then,the communication network topology of multi-agent systems will become a dynamic topology.The dynamic network topologies may make the leader's information unavailable to followers all the time,which may lead to the output regulation problem unsolvable.Therefore,the cooperative output regulation problem of multi-agent systems with dynamic communication network has attracted more and more attention.In addition,due to channel bandwidth limitation,communication distance limitation,communication noise interference and other factors in the process of the agents communication,time-varying communication delays always occur simultaneously with the stochastic packet dropouts.The existence of time-varying communication delays will lead to the irregular asynchronous updating of control input of each agent,thus affecting the overall control effect of the multi-agent systems,and may even cause the output regulation problem of multi-agent systems to be unsolvable.Thus,the cooperative output regulation problem of linear multi-agent systems need to be further studied under dynamic network topology with time-varying communication delay.Based on the existing research results of output regulation problem,this paper studies the cooperative output regulation problem of multi-agent systems under dynamic network topology.The main contents are as follows:(1)The cooperative output regulation problem of discrete-time multi-agent systems with time-varying network topology.Firstly,the output regulation problem of discrete-time multi-agent system is discussed and the influence of dynamic switching of communication network topology on it is analyzed.Secondly,by designing a distributed state feedback control algorithm based on the state observer for the exosystem,the output regulation problem of discrete-time multi-agent system is solved.Aiming at the situation that the state information of the system is not measurable,a distributed output feedback control algorithm is designed to track the exosystem.For the unstable and stable exosystems,the solvable conditions of cooperative output regulation problem for discretetime multi-agent systems with time-varying network topology are given,respectively.(2)The cooperative output regulation problem of discrete-time linear multi-agent systems under time-varying network topology with time-varying communication delay.For discrete-time multi-agent systems with time-varying network topology and time-varying communication delay,the solvability of the output regulation problem is analyzed.Then,a queuing mechanism is introduced to deal with time-varying communication delay,and two kinds of feedback controller based on the queuing mechanism are designed to solve the output regulation problem of multi-agent systems with packet dropout and time-varying communication delay.For the unstable and stable exosystems,the solvable conditions for cooperative output regulation of problem discretetime multi-agent systems with time-varying communication delay under time-varying topology are given,respectively.(3)The cooperative output regulation problem of discrete-time linear multi-agent systems with Markov switching network topology.For discrete-time linear multi-agent systems whose switching process of communication topology obeys Markov chain,the influence of Markovain communication network on the multi-agent system is analyzed and two kinds of distributed feedback control algorithms based on Markov chain are designed to solve the output regulation problem of multi-agent system when the exosystem system state or its own state are unmeasured.For the unstable and stable exosystems,the solvable conditions for cooperative output regulation of discrete-time multi-agent systems with Markov switching network topology are given by analyzing the stochastic stability and mean square stability of the closed-loop discrete-time multi-agent system,respectively.(4)The cooperative output regulation problem of continuous-time linear multiagent systems under time-varying network topology with time-varying communication delay.For continuous-time multi-agent systems with time-varying communication delays under time-varying network topology,the queuing mechanism based on sample data is introduced to solve the output regulation problem.Because there are both continuous and discrete signals in the multi-agent systems,it is necessary to discretize the continuous-time multi-agent systems,and two distributed feedback control algorithms based on queuing mechanism are given.Subsequently,for the unstable and stable exosystems,the solvable conditions of cooperative output regulation problem for continuous-time multi-agent systems with time-varying communication delay under time-varying network topology are given respectively.