Robust consensus of uncertain linear multi-agent systems via dynamic output feedback
This paper systematically 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 perturbations. Dynamic output-feedback pro...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
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| Online Access: | https://hdl.handle.net/10356/143931 |
| _version_ | 1826120533366800384 |
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| author | Li, Xianwei Soh, Yeng Chai Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Li, Xianwei Soh, Yeng Chai Xie, Lihua |
| author_sort | Li, Xianwei |
| collection | NTU |
| description | This paper systematically 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 perturbations. Dynamic output-feedback protocols with or without controller state information exchange between neighboring controllers are studied in a unified framework. Two methods are proposed for protocol design, which need to solve an algebraic Riccati equation and some scalar/matrix inequalities. The first method characterizes some key parameters by scalar inequalities related to the nonzero eigenvalues of the Laplacian, which requires the diagonalizability of the Laplacian, while the second method characterizes the parameters by linear matrix inequalities, which circumvents the requirement of the diagonalizability of the Laplacian. Compared with existing results, the proposed approach can simultaneously cope with heterogeneous uncertainties and directed communication graphs. Numerical results verify the advantages of the proposed design methods. |
| first_indexed | 2024-10-01T05:18:19Z |
| format | Journal Article |
| id | ntu-10356/143931 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:18:19Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1439312020-10-02T01:05:03Z Robust consensus of uncertain linear multi-agent systems via dynamic output feedback Li, Xianwei Soh, Yeng Chai Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Robust Consensus Multi-agent Systems This paper systematically 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 perturbations. Dynamic output-feedback protocols with or without controller state information exchange between neighboring controllers are studied in a unified framework. Two methods are proposed for protocol design, which need to solve an algebraic Riccati equation and some scalar/matrix inequalities. The first method characterizes some key parameters by scalar inequalities related to the nonzero eigenvalues of the Laplacian, which requires the diagonalizability of the Laplacian, while the second method characterizes the parameters by linear matrix inequalities, which circumvents the requirement of the diagonalizability of the Laplacian. Compared with existing results, the proposed approach can simultaneously cope with heterogeneous uncertainties and directed communication graphs. Numerical results verify the advantages of the proposed design methods. 2020-10-02T01:05:03Z 2020-10-02T01:05:03Z 2018 Journal Article Li, X., Soh, Y. C., & Xie, L. (2018). Robust consensus of uncertain linear multi-agent systems via dynamic output feedback. Automatica, 98, 114-123. doi:10.1016/j.automatica.2018.09.020 0005-1098 https://hdl.handle.net/10356/143931 10.1016/j.automatica.2018.09.020 98 114 123 en Automatica © 2018 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Robust Consensus Multi-agent Systems Li, Xianwei Soh, Yeng Chai Xie, Lihua Robust consensus of uncertain linear multi-agent systems via dynamic output feedback |
| title | Robust consensus of uncertain linear multi-agent systems via dynamic output feedback |
| title_full | Robust consensus of uncertain linear multi-agent systems via dynamic output feedback |
| title_fullStr | Robust consensus of uncertain linear multi-agent systems via dynamic output feedback |
| title_full_unstemmed | Robust consensus of uncertain linear multi-agent systems via dynamic output feedback |
| title_short | Robust consensus of uncertain linear multi-agent systems via dynamic output feedback |
| title_sort | robust consensus of uncertain linear multi agent systems via dynamic output feedback |
| topic | Engineering::Electrical and electronic engineering Robust Consensus Multi-agent Systems |
| url | https://hdl.handle.net/10356/143931 |
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