Observer-based quadratic boundedness leader-following control for multi-agent systems

This paper presents the design of an observer-based quadratic boundedness protocol for leader-following consensus in multi-agent systems. The problem under consideration is to force all the agents to follow the trajectories of a virtual leader in spite of bounded disturbances which implies that the...

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Bibliographic Details
Published inInternational journal of control Vol. 96; no. 5; pp. 1314 - 1323
Main Authors Vazquez Trejo, Juan Antonio, Rotondo, Damiano, Theilliol, Didier, Adam Medina, Manuel
Format Journal Article
LanguageEnglish
Published Abingdon Taylor & Francis 04.05.2023
Taylor & Francis Ltd
Subjects
Automatic
consensus
Control systems
Disturbances
Engineering Sciences
Leader-following control
Linear matrix inequalities
Mathematical analysis
multi-agent systems
Multiagent systems
observer-based control
quadratic boundedness
Unmanned aerial vehicles
Wind effects
consensus
multi-agent systems
quadratic boundedness
observer-based control
Leader-following control
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Summary:This paper presents the design of an observer-based quadratic boundedness protocol for leader-following consensus in multi-agent systems. The problem under consideration is to force all the agents to follow the trajectories of a virtual leader in spite of bounded disturbances which implies that the leader-following consensus is reached in a positively invariant and attractive ellipsoid. Under the framework of control synthesis in multi-agent systems subject to bounded disturbances, linear matrix inequality-based sufficient conditions are obtained for the computation of the controller and observer gains. The effectiveness of the proposed approach is demonstrated through simulations in a fleet of unmanned aerial vehicles subject to wind turbulence which are shown to achieve formation control.
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2022.2041728