A Sensory Feedback Based Discrete Distributed Observer to Cooperative Output Regulation

• Published in: IEEE transactions on automatic control Vol. 67; no. 9; pp. 4762 - 4769
• Main Author: Lu, Maobin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Communication networks; Cooperative control; Discrete time systems; distributed control; Eigenvalues and eigenfunctions; Linear systems; Multi-agent systems; Multiagent systems; Observers; output regulation; Regulation; Riccati equations; sensor network; Sensory feedback; small-gain condition; Symmetric matrices
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2022.3162545

The discrete distributed observer is developed recently to solve the cooperative output regulation problem. The validation of the existing discrete distributed observer depends on the establishment of the communication network. In some practical applications, only the sensor network can be established among all agents. To handle such cases, we propose a sensory feedback-based discrete distributed observer, which depends on the relative output of neighboring agents. In contrast to existing results, the design of the discrete distributed observer and cooperative output regulation analysis should be conducted simultaneously. Resorting to the small-gain theorem, we develop a small-gain condition-based approach and a low-gain-based approach, respectively. By these two approaches, we demonstrate that the discrete distributed observer holds and the cooperative output regulation problem of heterogeneous discrete-time linear multiagent systems can be solved.