Cooperative Output Regulation of Second-order Multi-agent Systems: The Internal Model Approach
摘要:In this talk, we present two classes of distributed internal models for the cooperative output regulation problem of the leader-followersecond-order multi-agent systems. The first class of distributed internal model is linear and depends on theleader dynamics information, while the second class is nonlinear but can be independent ofa prioriknowledge of the leader dynamics information.By introducing the internal model, the problem can be converted into the auxiliary cooperative stabilization problem, and the latter problem can be solved by the block backstepping algorithm. The strictLyapunov functioncan beestablished for the closed-loop system, which assuresnotonly a specified exponential convergence rate but also tolerable bounds of unmodeled disturbances.Finally, based on the proposed internal model approach,we have also studied theformation control in dynamicpositioningof multiple offshore vesselswith robustness against model uncertainties.
个人简介: Dr. Youfeng Su was born in Fuzhou, Fujian Province, China, in 1982. He received the B.S. degree in 2005 and the M.S. degree in 2008, both from East China Normal University, Shanghai, P. R. China, and the Ph.D. degree in 2012 from The Chinese University of Hong Kong, Hong Kong, P. R. China. From May 2012 to June 2013, he was a Postdoctoral Fellow at The Chinese University of Hong Kong. In July 2013, he joined the College of Mathematics and Computer Science, Fuzhou University, Fuzhou, P. R. China, where he has been a professor since July 2014. His research interests include output regulation, nonlinear control, cooperative control, multi-agent systems, and switched systems. Dr. Su received the CUHK Young Scholars Thesis Award from the Chinese University of Hong Kong in 2013. He was selected to the national ``1000-Youth Talent Program'' of China and the ``100 Talent Program'' of Fujian Province both in 2015. He was a recipient of Outstanding Youth Science Fund Award of Fujian Province in 2016.