Bipartite output synchronization of heterogeneous multiagent systems on signed digraphs |
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| Authors: | Shan Zuo Frank L Lewis Yongduan Song Ali Davoudi |
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| Affiliation: | 1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China;2. University of Texas at Arlington Research Institute, Fort Worth, TX, USA;3. Key Laboratory of Dependable Service Computing in Cyber Physical Society, and School of Automation, Chongqing University, Chongqing, China |
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| Abstract: | This paper studies the bipartite output synchronization problem of general linear heterogeneous multiagent systems on signed digraphs. We first show that, for heterogeneous multiagent systems, the bipartite output synchronization over the structurally balanced signed digraphs and the conventional output synchronization over the associated nonnegative digraphs are equivalent. Then, 3 different control protocols, using full‐state feedback, static output feedback, and dynamic output feedback are designed at each agent to solve the bipartite output synchronization problem based on solutions to the corresponding output regulator equations. Explicit local design procedures are proposed for all 3 control protocols. The compensators employed in these protocols incorporate only one copy of the virtual exosystem's dynamics, regardless of the dimensions of the outputs. This results in lower‐dimensional compensators and controllers and, hence, is more computationally tractable compared to the popular internal model principle‐based control protocols. Numerical simulations over 3 different signed communication digraphs validate the proposed control protocols. |
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| Keywords: | bipartite output synchronization heterogeneous multiagent systems signed digraph small‐gain theorem |
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