Cooperative robust consensus for linear heterogeneous multi-agent systems under switching topologies

Abstract

In this note, we investigate cooperative robust consensus problem for a class of linear heterogeneous multi-agent systems (MASs) with parameter uncertainty in agents. All the agents can have nonidentical dynamic dimensions. By combining the communication network, a distributed dynamic compensator is established based on only the measurable output information of the exosystem, which provides an estimated value of the state of the exosystem for each agent. The distributed dynamic output feedback protocol (DDOFP) is proposed by utilizing the exosystem compensator, through which the cooperative robust consensus is achieved under switching topology by following output regulation framework. Here, we introduce the stabilization scheme for a class of liner switched systems to analyse the closed-loop stability, which avoids the dependence on the eigenvalues of Laplacian matrix, such that it is a fully distributed control strategy without any global information. Finally, the simulation example is illustrated to verify the feasibility and effectiveness of the theory results.