Robust Consensus Analysis and Design under Relative State Constraints or Uncertainties

zbMATH Open1395.93065arXiv1605.03647MaRDI QIDQ5375263FDOQ5375263

Authors: Dinh Hoa Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi 

Publication date: 14 September 2018

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.

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

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Mathematics Subject Classification ID

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

Cited In (3)

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

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