H_ consensus of nonlinear multi-agent systems using dynamic output feedback controller: an LMI approach
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Publication:345586
DOI10.1007/S11071-016-2801-6zbMATH Open1349.93133arXiv1501.04859OpenAlexW1928518383MaRDI QIDQ345586FDOQ345586
Authors: Amir Amini, Ali Azarbahram, Mahdi Sojoodi 
Publication date: 2 December 2016
Published in: Nonlinear Dynamics (Search for Journal in Brave)
Abstract: This paper investigates a new method for consensus in a group of nonlinear complex multi-agent systems using fixed-order non-fragile dynamic output feedback controller, via an LMI approach. The proposed scheme is decentralized in the sense that each agent relies on the relative output information among the adjacent agents. The consensus based controllers are designed to minimize the effects of nonlinear terms of the agents as well as external disturbances. Converting consensus problem to stabilization of an equivalent augmented system using proper transformations, Lyapunov stability theorem is applied to obtain unknown controller parameters in order to guarantee consensus and simultaneously acquire considered control objectives. Finally, to demonstrate the effectiveness of the proposed algorithm and compare with similar earlier researches, a numerical example on a multi-agent system consisting of single link flexible manipulators is carried out.
Full work available at URL: https://arxiv.org/abs/1501.04859
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Cited In (15)
- Distributed robust fault-tolerant consensus control for a class of nonlinear multi-agent systems with intermittent communications
- A sum-of-squares approach to consensus of nonlinear leader-follower multi-agent systems based on novel polynomial and fuzzy polynomial models
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