Finite-Time Output Regulation of Linear Heterogeneous Multi-Agent Systems
Yanzhi Wu, Jiangping Hu, Linying Xiang, Qingpeng Liang, Kaibo Shi
Abstract
The finite-time output regulation (FTOR) problem for linear heterogeneous multi-agent systems (MAS) is investigated in this brief. The objective of this brief is to design controllers such that each agent can accurately track the reference signal and reject the disturbance. The disturbance and reference signal are generated by an exosystem. It is assumed that only a part of agents can obtain the state and system matrix of the exosystem. Then, distributed fixed-time observers are firstly proposed to estimate them, which can ensure the fixed-time convergence of the estimation errors. Next, we design both state feedback controller and output feedback controller to solve the FTOR problem using feedforward method. By virtue of Lyapunov theory and output regulation technique, it is shown that the proposed control strategy can solve the FTOR problem. Finally, a numerical example is included for illustration.