Cooperative Control of Linear Multi-Agent Systems via Distributed Output Regulation and Transient Synchronization

TL;DR

This paper introduces a novel distributed control method for multi-agent systems that enhances transient synchronization and disturbance rejection, applicable to both identical and non-identical linear agents with external signals.

Contribution

It proposes a new coupling strategy based on transient state components, improving cooperative behavior and synchronization in multi-agent output regulation problems.

Findings

Effective transient synchronization achieved in simulations

Improved disturbance rejection demonstrated

Applicable to both identical and non-identical agents

Abstract

A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as output synchronization, leader-follower synchronization, and many more. In the present paper, we propose a novel distributed regulator for groups of identical and non-identical linear agents. We consider global external signals affecting all agents and local external signals affecting only individual agents in the group. Both signal types may contain references and disturbances. Our main contribution is a novel coupling among the agents based on their transient state components or estimates thereof in the output feedback case. This coupling achieves transient synchronization in order to improve the cooperative behavior of the group in transient phases and guarantee a desired decay rate of the synchronization error. This leads to a cooperative reaction of the group on local disturbances acting on individual agents. The effectiveness of the proposed distributed regulator is illustrated by a vehicle platooning example and a coordination example for a group of four non-identical 3-DoF helicopter models.