Robust Consensus Analysis and Design under Relative State Constraints or Uncertainties

MaRDI QIDQ5375263zbMATH OpenFDO

Authors Dinh Hoa Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi

Publication date 14 September 2018

Full work available at URL https://arxiv.org/abs/1605.03647

Mathematics Subject Classification ID

Applications of graph theory (05C90) Decentralized systems (93A14) Adaptive or robust stabilization (93D21)

Abstract: 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.

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(3)

• Resilient consensus in multi-agent systems with state constraints
• Output consensus design in clustered networks of heterogeneous linear MASs under disturbances
• Robust formation control under state constraints of multi-agent systems in clustered networks

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