Robust output tracking for heterogeneous double-integrator dynamics with external disturbance

ABSTRACT

This paper studies the robust output tracking for heterogeneous double-integrator dynamics with external disturbance. It is assumed that there exist interactions among agents and their neighbours. All the agents have non-identical dynamics with others, and all the system matrices are unknown. A state feedback control protocol with only neighbours information is proposed based on a distributed compensator for non-identical dynamics and an internal-model compensator for the unknown parts. By the algebraic graph theory and matrix theory, sufficient conditions are given to guarantee that all the outputs of the agents converge to the reference output as time tends to infinity. Finally, two numerical simulations are provided to illustrate the effectiveness of the theoretical results.

KEYWORDS:

• Cooperative control
• double-integrator dynamics
• double-compensator
• heterogeneous
• robust output tracking

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Notes on contributors

Yanhua Qu

Yanhua Qu received the B.S. degree from Shenyang Ligong University, Shenyang, China, in 1999, and the M.S. degree from Northeastern University, Shenyang, China, in 2006. Since 2001, she has been with Shenyang Institute of Engineering. At the same timeshe has been with Northeastern University as a Ph.D. candidate since 2010. Her research interests include smartgrid, fault diagnosis, electronic technology, power electronicsand power transmission.

Anna Wang

Anna Wang received the B. S. degree, the M. S. degree and the Ph. D. degree in measurement technology and instruments from the Northeastern University, Shen-yang, China, in 1982, 1988 and 2001, respectively. Since 1994, she has been a full professor and PhD Supervisor with the School of Information Science and Engineering, Northeastern University, China. Her main research interests computer vision, machine learning, self-driving technology and electric network control of distributed generation system.

Sheng Lin

Sheng Lin received the B.S. degree from Inner Mongolia University of Science and Technology, Baotou, China, in 2002, and the M.S. degree from Northeastern University, Shenyang, China, in 2007. Since 2007, he has been with Shenyang Institute of Engineering, and since 2011, he has been with Northeastern University as a Ph. D. candidate. His research interests include complex process control and wireless power transfer.