頁籤選單縮合
題名 | Distributed Robust H∞ Consensus for Multi-agent Systems with Nonlinear Dynamics and Parameter Uncertainties= |
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作者 | Wang, Yinqiu; Wu, Qinghe; |
期刊 | Asian Journal of Control |
出版日期 | 20150100 |
卷期 | 17:1 2015.01[民104.01] |
頁次 | 頁352-361 |
分類號 | 448.942 |
語文 | eng |
關鍵詞 | Multi-agent systems; H∞ control; Consensus; Parameter uncertainties; Lipschitz nonlinear; Output feedback; |
英文摘要 | In this study, the consensus problem is discussed for a class of multi-agent systems with unknown Lipschitz nonlinear dynamics, external disturbances, and parameter uncertainties under a fixed directed graph. By some model transformations, the consensus problem becomes a reduced-order H∞ control problem. Based on the reduced-order control problem, sufficient conditions to achieve the consensus with the desired H∞ performance are presented. These conditions are to check the solvability of only one linear matrix inequality (LMI) and the dimension of the LMI independent of the number of agents in the network. Moreover, an algorithm is proposed to design the dynamic output feedback controller. Simulation on networked multi-agents is provided to show the effectiveness of the theoretical results. |
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