2016/05/12 by Đình Hòa Nguyễn, Nguyen, Dinh Hoa, Tatsuo Narikiyo +3
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #FOS: Mathematics #Neural Networks Stability and Synchronization #Optimization and Control (math.OC) #Systems and Control (eess.SY) #UAV Applications and Optimization #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1605.03647
openalex publication_date 2016/05/12 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
This paper proposes a new approach to analyze and design distributed robust consensus control protocols for general linear leaderless multi-agent systems (MASs) in presence of relative-state constraints or uncertainties. First, we show that the MAS robust consensus under relative-state constraints or uncertainties is equivalent to the robust stability under state constraints or uncertainties of a transformed MAS. Next, the transformed MAS under state constraints or uncertainties is reformulated as a network of Lur'e systems. By employing S-procedure, Lyapunov theory, and Lasalle's invariance principle, a sufficient condition for robust consensus and the design of robust consensus controller gain are derived from solutions of a distributed LMI convex problem. Finally, numerical examples are introduced to illustrate the effectiveness of the proposed theoretical approach.