Research On The Controllability And Cooperative Output Regulation Of Multi Agent Systems With Dynamic Edges

With the increasing understanding of the nature and the burgeoning development of technol-ogy in recent years,more and more networked systems appear in human society,such as Internet,power networks,groups of robots and distributed control systems.To meet with this developing trend,the research focus of control theory has a relevant shift.Numerous researchers have divert-ed from the research of control of single subject to more complicated network systems which are composed by several individuals.This shift brings about new research topics,like consensus,syn-chronization and formation control of individuals,which elicits people to establish a novel branch of control theory called a network control theory"to handle these new problems.Traditional net-work control theory is mainly based on the "multi agent system" model on which the result of research has succeed in applying to situations such as formation control of robots,the coordination control of UAVs and speed consensus of the vehicles.However,this model ignores the effect of edge dynamics on the whole system which leads it inappropriate to describe the dynamics of gen-eration nodes in power networks,sources in TCP congestion control and so on.To compensate for this deficiency,an extension of the conventional multi agent system model is proposed,called"multi agent systems with dynamic edges" which takes into account the dynamics of the edges.To better research the dynamics of the power system,this paper selects the multi agent systems with dynamic edges as the research model.The content covers two folds,including the controlla-bility and coordination control of multi agent systems with dynamic edges.The main contents are as follows:1.The general condition for the one-dimension multi agent systems with dynamic edges sys-tem is researched.The homogeneous multi agent systems with dynamic edges system are researched.The star-graph and circle-graph multi agent systems with dynamic edges system are also researched.2.Based on the passivity and internal model control,the synchronization controller for one-dimension multi agent systems with dynamic edges system is proposed.The main contributions:1.The necessary and sufficient condition for the one-dimension multi agent systems with dy-namic edges system is obtained.The necessary and sufficient condition for the homogeneous multi agent systems with dynamic edges system is obtained and the relationship between the homogeneous multi agent systems with dynamic edges system with the multi-agent system is discovered.The necessary and sufficient conditions for the star-graph and circle-graph multi agent systems with dynamic edges system are also obtained.2.Output regulation is realized by passivity and internal model principle.A novel controller for synchronization for one-dimension multi agent systems with dynamic edges system is de-signed and a controller for cooperation for one-dimension multi agent systems with dynamic edges system is also design.