Synthesis of Formation Control Systems for Multi-Agent Systems under Control Gain Perturbations

This paper proposed a linear matrix inequality (LMI)-based design method of non-fragile guaranteed cost controllers for multi-agent systems (MASs) with leader-follower structures. In the guaranteed cost control approach, the resultant controller guarantees an upper bound on the given cost function t...

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Bibliographic Details
Published inAdvances in technology innovation Vol. 5; no. 2; pp. 112 - 125
Main Authors Miyakoshi, Kazuki, Shun Ito, Hidetoshi Oya, Yoshikatsu Hoshi, Shunya Nagai
Format Journal Article
LanguageEnglish
Published Taiwan Taiwan Association of Engineering and Technology Innovation 01.04.2020
Subjects
Control stability
Control systems design
Controllers
Convexity
Cost function
Feedback control
Linear matrix inequalities
Mathematical analysis
Multiagent systems
Optimization
Upper bounds
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Summary:This paper proposed a linear matrix inequality (LMI)-based design method of non-fragile guaranteed cost controllers for multi-agent systems (MASs) with leader-follower structures. In the guaranteed cost control approach, the resultant controller guarantees an upper bound on the given cost function together with asymptotical stability for the closed-loop system. The proposed non-fragile guaranteed cost control system can achieve consensus for MASs despite control gain perturbations. The goal is to develop an LMI-based sufficient condition for the existence of the proposed non-fragile guaranteed cost controller.  Moreover, a design problem of an optimal non-fragile guaranteed cost controller showe that minimizing an upper bound on the given quadratic cost function can be reduced to constrain a convex optimization problem. Finally, numerical examples were given to illustrate the effectiveness of the proposed non-fragile controller for MASs.
ISSN:2415-0436
2518-2994
DOI:10.46604/aiti.2020.4136