This paper develops a distributed solution to the fully-heterogeneous containment control problem (CCP), for which not only the followers' dynamics but also the leaders' dynamics are non-identical. A novel formulation of the fully-heterogeneous CCP is first presented in which each follower constructs its virtual exo-system. To build these virtual exo-systems by followers, a novel distributed algorithm is developed to calculate the so-called normalized level of influences (NLIs) of all leaders on each follower and a novel adaptive distributed observer is designed to estimate the dynamics and states of all leaders that have an influence on each follower. Then, a distributed control protocol is proposed based on the cooperative output regulation framework, utilizing this virtual exo-system. Based on estimations of leaders' dynamics and states and NLIs of leaders on each follower, the solutions of the so-called linear regulator equations are calculated in a distributed manner, and consequently, a distributed control protocol is designed for solving the output containment problem. Finally, theoretical results are verified by performing numerical simulations.
翻译：本文开发了一种分布式的全异源封闭控制问题(CCP)解决方案,不仅针对追随者的动态,而且针对领导者的动态也非同质。首先提出了全异源封闭控制问题的新配方,每个追随者在其中构建其虚拟外向系统。为了由追随者构建这些虚拟外向系统,开发了一种新的分布式算法,以计算所有领导人对每个追随者的影响的所谓正常化水平,并设计了一个新的适应性分布式观察员,以估计对每个追随者有影响力的所有领导人的动态和状态。随后,根据合作产出监管框架,利用虚拟外向系统,提出了一个分布式控制协议。根据对领导人动态和状态的估计,以及每个追随者领导人的NLI,以分布式方式计算出所谓的线式调节方程式的解决方案,因此,设计了一种分布式控制协议,以解决产出抑制问题。最后,通过进行数字模拟,对理论结果进行验证。
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