Design of output-feedback protocols for robust consensus of uncertain linear multi-agent systems

This paper deals with robust consensus of uncertain linear multi-agent systems via dynamic output-feedback protocols. Agents are assumed to have identical nominal linear time-invariant dynamics but are subject to heterogeneous additive stable unmodelled dynamics. We consider a dynamic output-feedbac...

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Bibliographic Details
Published inProceedings of the American Control Conference pp. 936 - 941
Main Authors Li, Xianwei, Soh, Yeng Chai, Xie, Lihua
Format Conference Proceeding
LanguageEnglish
Published AACC 01.05.2017
Subjects
Additives
Linear matrix inequalities
Multi-agent systems
Protocols
Robustness
Transfer functions
Uncertainty
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Summary:This paper deals with robust consensus of uncertain linear multi-agent systems via dynamic output-feedback protocols. Agents are assumed to have identical nominal linear time-invariant dynamics but are subject to heterogeneous additive stable unmodelled dynamics. We consider a dynamic output-feedback protocol of the observer-based type without direct exchange of local controller states. Sufficient conditions ensuring robust consensus for all uncertainties with a given H ∞ norm bound are obtained from robust control theory, based on which a design algorithm is developed for the protocol gains to achieve closed-loop robust consensus. The proposed method can simultaneously cope with heterogeneous uncertainties and directed communication graphs. The advantages of the proposed design method are finally illustrated by a numerical example.
ISSN:2378-5861
DOI:10.23919/ACC.2017.7963073