Cooperative output regulation of multi-agent network systems with dynamic edges
For control theorists, this extends cooperative control to networks with dynamic couplings, but the approach is incremental, combining existing methods.
This paper addresses cooperative output regulation in multi-agent networks with dynamic edges, where both nodes and edges have dynamics. Distributed controllers based on passivity and internal model principles achieve output synchronization and cooperation, demonstrated via electrical network simulation.
This paper investigates a new class of linear multi-agent network systems, in which nodes are coupled by dynamic edges in the sense that each edge has a dynamic system attached as well. The outputs of the edge dynamic systems form the external inputs of the node dynamic systems, which are termed "neighboring inputs" representing the coupling actions between nodes. The outputs of the node dynamic systems are the inputs of the edge dynamic systems. Several cooperative output regulation problems are posed, including output synchronization, output cooperation and master-slave output cooperation. Output cooperation is specified as making the neighboring input, a weighted sum of edge outputs, track a predefined trajectory by cooperation of node outputs. Distributed cooperative output regulation controllers depending on local state and neighboring inputs are presented, which are designed by combining feedback passivity theories and the internal model principle. A simulation example on the cooperative current control of an electrical network illustrates the potential applications of the analytical results.