Abstract:
Abstract
In this thesis we study the cooperative output regulation of linear multi-agent systems and leader-following formation problem of multi-robot systems under switching network. In case of cooperative output regulation of linear multi-agent systems the problem can be viewed as a generalization of the leader-following consensus problem of multi-agent systems. Due to the limited information exchanges of different subsystems, the problem cannot be solved by the decentralized approach and is not allowed to be solved by the centralized control. By devising a distributed observer network, we can solve the problem by both dynamic state feedback control and dynamic measurement output feedback control. For leader-following formation problem of multi-robot systems robots are required to move in a formation with formation constrains described in terms of relative distances of the robots and the formation (as whole entity) is required to track the trajectory generated by an exosystem. The exosystem of the considered multi-robot systems provides driving forces or environmental disturbance, whose dynamics is different from the dynamics of the robots. A systematic distributed design approach for the leader-following formation problem is proposed via dynamic output feedback with the help of regulator equation under switching network topologies.
