Robust consensus algorithm for multi-agent systems with exogenous disturbances under convergence conditions

• Published in: International journal of systems science Vol. 45; no. 9; pp. 1869 - 1879
• Main Authors: Jiang, Yulian, Liu, Jianchang, Tan, Shubin, Ming, Pingsong
• Format: Journal Article
• Language: English
• Published: Taylor & Francis 02.09.2014
• Subjects: Agents (artificial intelligence); Algorithms; consensus algorithm; Convergence; convergence conditions; differential game; Differential games; Disturbances; Expert systems; Interference; multi-agent system; Robust control
• ISSN: 0020-7721; 1464-5319
• DOI: 10.1080/00207721.2012.757384

In this paper, a robust consensus algorithm is developed and sufficient conditions for convergence to consensus are proposed for a multi-agent system (MAS) with exogenous disturbances subject to partial information. By utilizing H ∞ robust control, differential game theory and a design-based approach, the consensus problem of the MAS with exogenous bounded interference is resolved and the disturbances are restrained, simultaneously. Attention is focused on designing an H ∞ robust controller (the robust consensus algorithm) based on minimisation of our proposed rational and individual cost functions according to goals of the MAS. Furthermore, sufficient conditions for convergence of the robust consensus algorithm are given. An example is employed to demonstrate that our results are effective and more capable to restrain exogenous disturbances than the existing literature.