Distributed robust control of linear multi-agent systems with parameter uncertainties
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Publication:5745602
DOI10.1080/00207179.2012.674644zbMATH Open1282.93096arXiv1109.3781OpenAlexW2162410018MaRDI QIDQ5745602FDOQ5745602
Authors: Zhongkui Li, Lihua Xie, Zhisheng Duan, Xiangdong Liu 
Publication date: 30 January 2014
Published in: International Journal of Control (Search for Journal in Brave)
Abstract: This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. Distributed controllers are designed for both continuous- and discrete-time multi-agent systems, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown for both the continuous- and discrete-time cases that the distributed robust control problems under such controllers in the sense of quadratic stability are equivalent to the control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed controller for the continuous-time case, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, a sufficient existence condition in terms of linear matrix inequalities is derived for the distributed discrete-time controller. Finally, the distributed robust control problems of uncertain linear multi-agent systems subject to external disturbances are discussed.
Full work available at URL: https://arxiv.org/abs/1109.3781
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Sensitivity (robustness) (93B35) Agent technology and artificial intelligence (68T42) (H^infty)-control (93B36) Linear systems in control theory (93C05) Control/observation systems governed by ordinary differential equations (93C15)
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