【摘 要】
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This paper investigates the cooperative output regulation problem for heterogeneous nonlinear uncertain multiagent networked systems subject to actuator failure,bounded matched or mismatched dis-turbances or disturbances produced by a given linear exosyst
【机 构】
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College of Electrical Engineering,Zhejiang University,Hangzhou 310027,China;Department of Electrical
论文部分内容阅读
This paper investigates the cooperative output regulation problem for heterogeneous nonlinear uncertain multiagent networked systems subject to actuator failure,bounded matched or mismatched dis-turbances or disturbances produced by a given linear exosystem.Accurate information about nonlinearity,actuator failure and disturbance may be completely unknown.First,a distributed finite-time observer is designed to estimate the dynamics of the exosystem on a finite-time interval over a communication digraph.Then,a neural-adaptive control protocol is proposed.It is shown that(i)closed-loop multiagent systems are asymptotically stable,with output synchronization errors that tend to zero in the absence of mismatched dis-turbance,and(ii)the states of the closed-loop multiagent systems and the output synchronization errors are bounded in the presence of mismatched disturbance.Finally,a simulation example is given to demonstrate the effectiveness of the proposed control strategy.
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