Many recent results on distributed control of multi-agent networks rely on a number of simplifying assumptions that facilitate the solution of regulation problems associated with large-scale networked systems. Identical subsystem models are a typical assumption made in networked control systems which often fail in practice. In this paper, we propose a systematic method for removing this assumption, leading to a general approach to distributed-control design for stabilising networks of multiple non-identical dynamic agents. Local subsystems represented as autonomous dynamic agents are assumed to share a set of structural properties, (controllability) indices. Our approach relies on the solution of certain model-matching type problems using local state-feedback and state/input-matrix transformations that map local dynamics to a target system, selected to minimise joint control effort. By adapting well-established distributed LQR control design methodologies to our framework, the stabilisation problem of networks of non-identical dynamic agents is solved. The applicability of our approach is illustrated via a synchronisation example of eleven harmonic oscillators with non-identical dynamics communicating over a connected graph.

许多最近关于多智能体网络分布式控制的结果依赖于一些简化的假设，这些假设有助于解决与大规模网络系统相关的监管问题。相同的子系统模型是网络控制系统中的典型假设，但在实践中经常失败。在本文中，我们提出了一种消除这种假设的系统方法，从而为分布式控制设计提供了一种通用方法，用于稳定多个不同动态代理的网络。假设表示为自主动态代理的本地子系统共享一组结构属性，（可控性）指数。我们的方法依赖于使用局部状态反馈和将局部动态映射到目标系统的状态/输入矩阵转换来解决某些模型匹配类型的问题，选择以最小化联合控制工作。通过将完善的分布式 LQR 控制设计方法应用于我们的框架，解决了不同动态代理网络的稳定性问题。我们的方法的适用性通过 11 个谐波振荡器的同步示例来说明，这些振荡器具有通过连通图进行通信的不同动态。