论文标题
领导者系统网络的全异构控制控制
Fully-Heterogeneous Containment Control of a Network of Leader-Follower Systems
论文作者
论文摘要
本文为全异构的遏制控制问题（CCP）开发了分布式解决方案，为此，不仅关注者的动力学，而且领导者的动力学都是不相同的。首先提出了全异构CCP的一种新颖表述，每个追随者都构建其虚拟外观系统。为了通过追随者构建这些虚拟的外观系统，开发了一种新颖的分布式算法，以计算每个追随者对所有领导者的所谓归一化影响（NLIS），并且设计了一种新型的自适应分布式观察者，旨在估计所有领导者对每个追随者都有影响的动态和状态。然后，使用此虚拟Exo-System提出了基于合作输出调节框架的分布式控制协议。基于每个追随者对领导者的动力学和状态和NLI的估计，以分布式方式计算所谓的线性调节器方程的解决方案，因此，分布式控制协议旨在解决输出控制问题。最后，通过执行数值模拟来验证理论结果。
This paper develops a distributed solution to the fully-heterogeneous containment control problem (CCP), for which not only the followers' dynamics but also the leaders' dynamics are non-identical. A novel formulation of the fully-heterogeneous CCP is first presented in which each follower constructs its virtual exo-system. To build these virtual exo-systems by followers, a novel distributed algorithm is developed to calculate the so-called normalized level of influences (NLIs) of all leaders on each follower and a novel adaptive distributed observer is designed to estimate the dynamics and states of all leaders that have an influence on each follower. Then, a distributed control protocol is proposed based on the cooperative output regulation framework, utilizing this virtual exo-system. Based on estimations of leaders' dynamics and states and NLIs of leaders on each follower, the solutions of the so-called linear regulator equations are calculated in a distributed manner, and consequently, a distributed control protocol is designed for solving the output containment problem. Finally, theoretical results are verified by performing numerical simulations.
