A new design scheme of distributed controller for heterogeneous multi-agent systems

This paper presents a novel distributed control scheme in the general frequency domain framework, in order to not only achieve the stability but also improve consensus performance of the interconnected heterogeneous dynamical systems with time delays. The controller design procedure has four steps. Firstly, the feedback control diagram of the global system and local subsystem are both established. Secondly, an effective parametrization of all stabilizing controllers is accomplished by incorporating the internal model control (IMC) principle for each subsystem, which can be used to compute the H2 optimal one in the third step. Finally, the controllers' structures corresponding to each agent are all obtained independently. The advantages of the proposed approach are that the result is analytical and a simple quantitative tuning way is developed to trade off the nominal performance and robustness. The simulation results show the superiority of this method.