Synchronization of nonlinear heterogeneous cooperative systems using input–output feedback linearization

In this paper, input–output feedback linearization is used to design distributed controls for multi-agent systems with nonlinear and heterogeneous non-identical dynamics. Using feedback linearization, the nonlinear and heterogeneous dynamics of agents are transformed to identical linear dynamics and non-identical internal dynamics. Based on the dependence of agent outputs on agent inputs, feedback linearization may lead to a first-order or high-order tracking synchronization problem. The controller for each agent is designed to be fully distributed such that each agent only requires its own information and the information of its neighbors. The effectiveness of the proposed control protocols are verified by simulation on a microgrid test system.