Protocol design for group output consensus of disturbed port-controlled Hamiltonian multi-agent systems |
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| Institution: | 1. Institute of Complexity Science, School of Automation, Qingdao University, Qingdao 266071, PR China;2. Shandong Key Laboratory of Industrial Control Technology, Qingdao 266071, PR China;3. School of Automation, Southeast University, Nanjing 210096, PR China;4. Key Laboratory of Measurement and Control of CSE, Ministry of Education, PR China;1. School of Mathematics and Statistics, Hainan Normal University, Haikou 571158, China;2. Information and Control Institute, Hangzhou Dianzi University, Hangzhou 310018, China;3. Department of Chemical and Biological Engineering, Hong Kong University of Science and Technology, Hong Kong, China;1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150006, PR China;2. Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801 USA |
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| Abstract: | This paper considers the group output consensus problem for a class of disturbed port-controlled Hamiltonian multi-agent systems via a composite control method. The composite distributed control protocol is proposed by combining the damping injection and energy shaping method, the finite-time disturbance observer (FTDO) technique and distributed protocol, which makes the closed-loop Hamiltonian multi-agent systems asymptotically stable and the group outputs reach consensus. It is shown that many kinds of disturbances can be estimated accurately via the FTDO. The advantage is that this control scheme exhibits not only better robustness against disturbances, but also the nominal system recovery performance. Two illustrative examples reveal that the designed control protocol is effective. |
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