Prescribed-time Cooperative Output Regulation of Linear Heterogeneous Multi-agent Systems

TL;DR

This paper introduces a novel prescribed-time cooperative output regulation method for linear heterogeneous multi-agent systems, ensuring agents reach consensus within a pre-specified finite time regardless of initial conditions.

Contribution

It develops a new prescribed-time stabilization criterion for cascaded systems and applies it to design distributed controllers and observers for multi-agent systems.

Findings

Achieves finite-time convergence with pre-specified settling time.

Provides necessary and sufficient conditions for prescribed-time output regulation.

Designs a distributed prescribed-time observer and controller.

Abstract

A finite-time protocol for a multi-agent systems (MASs) can guarantee the convergence of every agent in a finite time interval in contrast to the asymptotic convergence, but the settling time depends on the initial condition and design parameters and is inconsistent across the agents. In this paper, we study the prescribed-time cooperative output regulation (PTCOR) problem for a class of linear heterogeneous MASs under a directed communication graph, where the settling time of every agent can be specified a priori and thus consistent. As a special case of PTCOR, the necessary and sufficient condition for prescribed-time output regulation of an individual system is first discussed. Then, the PTCOR problem is converted into two cascaded subsystem, where the first one composed of distributed estimate errors and local estimate errors and the second one is for local tracking errors. The criterion for prescribed-time stabilization of the cascaded system is proposed and is found to be different from that of traditional asymptotic stabilization of a cascaded system. Under the criterion and sufficient condition, the general PTCOR problem is studied in two scenarios including state feedback control and measurement output feedback control. In particular, a distributed prescribed-time observer for each subsystem is explicitly constructed to estimate the exosystem's state. Based on the observer, a distributed controller is proposed to achieve convergence of the regulated output to zero within a prescribed-time.