This paper deals with the leader–follower consensus control for a homogeneous, discrete-time, multi-agent system (MAS) with agents having non-minimum phase (NMP) zeros. Linear time-invariant (LTI) or single-rate distributed output feedback schemes in which, the controllers are not allowed to exchange their states with the neighbours, may fail to achieve this objective, if a certain speed of consensus is needed. To remedy this, a 2-rate scheme is proposed in this paper. The lifting technique is used to transform the design of the proposed 2-rate distributed controller into the design of an equivalent LTI or single-rate centralized controller for an equivalent LTI plant, satisfying some complex gain margin (GM) criteria. It is shown that the inherent zero-placement capability of the proposed controller can make this equivalent LTI plant minimum phase under certain conditions, which helps one attain a desired speed of the consensus response while satisfying the GM criteria. An /loop-transfer-recovery (LTR)-based approach is used to design the proposed controller. A suitable example is considered to show the efficacy of the proposed controller over its single-rate counterpart.

中文翻译：

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使用 2 速率分布式输出反馈协议实现领导者-跟随者共识，无需控制器交互


本文研究了具有非最小相位（NMP）零点的同质、离散时间、多智能体系统（MAS）的领导者-追随者一致性控制。如果需要一定速度的共识，则线性时不变（LTI）或单速率分布式输出反馈方案（其中不允许控制器与邻居交换其状态）可能无法实现此目标。为了解决这个问题，本文提出了 2 速率方案。提升技术用于将所提出的 2 速率分布式控制器的设计转换为等效 LTI 或等效 LTI 设备的单速率集中控制器的设计，满足一些复杂的增益裕度 (GM) 标准。结果表明，所提出的控制器固有的置零能力可以在某些条件下使该等效 LTI 设备最小相位，这有助于在满足 GM 标准的同时获得所需的一致响应速度。基于/循环传输恢复（LTR）的方法用于设计所提出的控制器。考虑一个合适的例子来显示所提出的控制器相对于其单速率对应物的功效。