Cooperation Output Regulation Of Singular Hetergeneous Multi-Agent Systems

In recent years,with the development of artificial intelligence,microelectronics,and sociology,multi-agent systems have been ubiquitous in real life.At the same time,the generalized heterogeneous multi-agent systems that is closer to the actual system has received more and more attention.The problem of output regulation is an important research topic in multi-agent systems theory.Its goal is to design a feedback control protocol taking advantage of information interaction between agents.Its task to suppress disturbances generated by external systems while ensuring the stability of the closed-loop system.This paper mainly does two parts for the generalized heterogeneous multi-agent systems.One part considers the output regulation of real-time singular heterogeneous multi-agent systems.Another part of the work is to study the output regulation problem of event-triggered singular heterogeneous multi-agent systems.Aiming at these two situations,the control protocol under real-time state and the event-triggered control protocol were designed respectively.The specific arrangement of the paper is as follows:The first chapter briefly introduces the singular heterogeneous multi-agent systems,the principle of observers,event-triggered control,the research status of the output regulation problem and the preliminary knowledge that will be used in the following chapters of this article.Chapter 2 mainly studies the output regulation problem of real-time singular heterogeneous multi-agent systems.Chapter 3 focuses on the problem of output regulation of event-triggered singular heterogeneous multi-agent systems.Chapter 4 is the summary and prospect of the thesis.