In this article, we consider the synchronization problem in a network of nonlinear multiagent systems having the same relative degree r. The agents do not have access to their state or output and only have relative output information from their neighbors. The controller structure is decentralized in nature and, therefore, depends only on the relative information available to it. The agent dynamics are transformed into relative dynamics by a change of coordinates where the agent dynamics are coupled. Extended high-gain observers are used to estimate the nonlinear coupling at each agent and then cancel them using feedback control. Therefore, the problem changes to a stabilization problem of N nonlinear systems in the relative coordinates. It is shown that the agents achieve practical synchronization and the synchronization error can be made arbitrarily small by tuning the high-gain observer parameter. Finally, simulations are done with a network of power systems to show the efficacy of the proposed controller.

中文翻译：

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非线性异构代理网络的实际同步及其在电力系统中的应用


在本文中，我们考虑具有相同相对度 r 的非线性多智能体系统网络中的同步问题。代理无法访问其状态或输出，只能获得来自其邻居的相对输出信息。控制器结构本质上是分散的，因此仅取决于可用的相关信息。通过改变代理动力学耦合的坐标，将代理动力学转换为相对动力学。扩展的高增益观测器用于估计每个智能体的非线性耦合，然后使用反馈控制消除它们。因此，问题转化为N个非线性系统在相对坐标下的稳定性问题。结果表明，智能体实现了实际的同步，并且通过调整高增益观测器参数可以使同步误差任意小。最后，通过电力系统网络进行仿真，以显示所提出的控制器的功效。