Research On Bipartite Output Consensus For Heterogeneous Linear Multi-agent Systems With Distributed Control

With the development of information technology,network technology,IOT technology and artificial intelligence technology,the controlled object in the control system has developed from a single object to a multi-agent system containing multiple objects.Consistency is one of the most important areas in the study of cooperative control of multiagent systems.The so-called consistency of multi-agent means that the subsystems reach the expected state of consistency through information communication.In actual control,there is often a relationship of competition and cooperation between subsystems of a whole system,which requires the control effect to be bipartite consensus.At the same,in engineering applications,the difference between the agents which can be called the heterogeneity cannot be neglected in the design of consensus control.Therefore,in this paper,a state observer two-sided output consistent control protocol based state observer is proposed for a linear heterogeneous multi-agent system with simultaneous competition and cooperation between internal sub-nodes.Specific research results are as follows:Firstly,a general solution is proposed for the bipartite output consensus of heterogeneous linear multi-agent system.We build a state observer for each subsystem to track a known external stable reference system,and then regulation matrixes are obtained by linear output regulation equations.The control quantity is obtained by using the regulation matrixes and the observed state as well as the state of each subsystem itself,to get the output consensus of the whole system.Then,based on this solution,a non-completely distributed general control protocol is proposed.Then,in order to solve defect of unfully distributed control protocol,which needs the topology structure information of all the multi-agent system,we improve the state observer and propose a fully distributed adaptive control protocol for connected undirected graphs and directed graphs with spanning trees.To solve problem of asymmetric topology in directed graph,the monotone function is introduced to increase the freedom of the observer.Finally,a further improvement is made to the observer,in order to solve the disadvantage that the observer we have proposed requires the internal state of the external reference system.At the same time,the adaptive parameters are reduced and the control protocol is simplified in the new protocol.