论文标题
获得具有干扰拒绝的离散时间线性多代理系统的最佳输出共识
Achieving Optimal Output Consensus for Discrete-time Linear Multi-agent Systems with Disturbance Rejection
论文作者
论文摘要
在本文中，研究了一个最佳的输出共识问题，以实现外部干扰的离散时间线性多动力系统。每个代理都有一个局部成本函数，该函数仅是自身已知的。分布式协议的设计旨在确保这些高阶代理的产出共识，同时将总成本作为这些本地成本的总和最小化。为了克服高阶动态和外部干扰带来的困难，我们开发了一种嵌入式设计，并建设性地呈现了分布式规则以解决此问题。拟议的控件包括三个术语：有向信息图下的最佳信号发生器，基于观察者的补偿器拒绝这些干扰，以及这些线性剂的参考跟踪控制器。证明可以通过一些温和的假设解决法式问题。还提供了一个数值示例，以说明我们提出的分布式控制定律的有效性。
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed protocols are to be designed to guarantee an output consensus for these high-order agents and meanwhile minimize the aggregate cost as the sum of these local costs. To overcome the difficulties brought by high-order dynamics and external disturbances, we develop an embedded design and constructively present a distributed rule to solve this problem. The proposed control includes three terms: an optimal signal generator under a directed information graph, an observer-based compensator to reject these disturbances, and a reference tracking controller for these linear agents. It is shown to solve the formulated problem with some mild assumptions. A numerical example is also provided to illustrate the effectiveness of our proposed distributed control laws.
