Heterogeneous Multiagent Systems With Different Fractional Order: An Experience-Based Fusion Controller
Yiwen Chen, Guoguang Wen, Ahmed Rahmani, Tingwen Huang
Abstract
Cooperation control of heterogeneous multi-agent systems (MASs) with different fractional order subject to intermittent sampled-data transmission is investigated in this brief. Existing works considering MASs with multiple fractional order mainly focus on continuous input with frequency domain analysis and their results are thus based on sophisticated characteristic equations. Instead, inspired by the memory retention property of Caputo fractional derivative, heterogeneous experience-based fusion controllers are devised to handle the hereditary effect based on time domain analysis. The devised fusion controllers are composed of intermittent sampled data, which not only incorporate current available samplings but also include earlier experience of agents. In addition, the fusion controllers can successfully transform MASs with different fractional order into general discrete-time plants at sampling instants, and at the same time, ensure the asymptotical stability of sampling errors as well as controllers besides those sampling instants. Thereby, the achievement of consensus only relates to the connectivity of communication graph. Effectiveness of theoretical results is substantiated finally by numerical examples.