Distributed robust consensus control of multi-agent systems with heterogeneous matching uncertainties

• Published in: Automatica (Oxford) Vol. 50; no. 3; pp. 883 - 889
• Main Authors: Li, Zhongkui, Duan, Zhisheng, Lewis, Frank L.
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.03.2014; Elsevier
• Subjects: Adaptative systems; Adaptive control; Applied sciences; Computer science; control theory; systems; Computer systems and distributed systems. User interface; Consensus; Control theory. Systems; Distributed tracking; Exact sciences and technology; Multi-agent systems; Software; Uncertain systems; Uncertain systems; Distributed tracking; Adaptive control; Consensus; Multi-agent systems; Bounded control; Target tracking; Unknown input; Transmission protocol; Error bound; Distributed system; Adaptive method; Robust control; Uncertain system; Multiagent system; Linear system; Distributed control; Communication graph; Sensor array; Non directed graph
• ISSN: 0005-1098; 1873-2836
• DOI: 10.1016/j.automatica.2013.12.008

This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information of neighboring agents, a fully distributed continuous adaptive consensus protocol is designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable bounded set. For the case where there exists a leader whose control input is unknown and bounded, a distributed adaptive consensus protocol is proposed to ensure the boundedness of the consensus error. A sufficient condition for the existence of the proposed protocols is that each agent is stabilizable.