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

• Published in: Advances 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
• Language: English
• 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
• DOI: 10.46604/aiti.2020.4136
• ISSN: 2415-0436

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.