This paper studies output synchronization and regulation problem for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay. A decentralized design based on shaping the agent dynamics using their self-knowledge and structural properties is developed. In the output synchronization problem, the proposed controller design tolerates arbitrary bounded communication delay and large network uncertainties. In the output regulation problem, it requires relative output measurement of the exo- system only in one agent. Moreover, the design method can also be applied to formation control problems.
|Title of host publication||Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013|
|Place of Publication||USA|
|Publisher||IEEE CONTROL SYSTEMS SOCIETY|
|Number of pages||6|
|Publication status||Published - Dec 2013|
|Event||52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy|
Duration: 10 Dec 2013 → 13 Dec 2013
Conference number: 52
|Publisher||IEEE Control Systems Society|
|Conference||52nd IEEE Conference on Decision and Control, CDC 2013|
|Period||10/12/13 → 13/12/13|
Wang, X., Saberi, A., Stoorvogel, A. A., Grip, H. F., & Yang, T. (2013). Synchronization for heterogeneous networks of introspective right-invertible agents with uniform constant communication delay. In Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013 (pp. 5198-5203). USA: IEEE CONTROL SYSTEMS SOCIETY.