Distributed robust control of linear multi-agent systems with parameter uncertainties
This article considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogene...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2013
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| Online Access: | https://hdl.handle.net/10356/96737 http://hdl.handle.net/10220/11590 |
| _version_ | 1826114083401760768 |
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| author | Li, Zhongkui Duan, Zhisheng Xie, Lihua Liu, Xiangdong |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Li, Zhongkui Duan, Zhisheng Xie, Lihua Liu, Xiangdong |
| author_sort | Li, Zhongkui |
| collection | NTU |
| description | This article considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. Distributed controllers are designed for both continuous- and discrete-time multi-agent systems, based on the relative states of neighbouring agents and a subset of absolute states of the agents. It is shown for both the continuous- and discrete-time cases that the distributed robust control problems under such controllers in the sense of quadratic stability are equivalent to the H ∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed controller for the continuous-time case, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, a sufficient existence condition in terms of linear matrix inequalities is derived for the distributed discrete-time controller. Finally, the distributed robust H ∞ control problems of uncertain linear multi-agent systems subject to external disturbances are discussed. |
| first_indexed | 2024-10-01T03:33:23Z |
| format | Journal Article |
| id | ntu-10356/96737 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:33:23Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | ntu-10356/967372020-03-07T13:57:24Z Distributed robust control of linear multi-agent systems with parameter uncertainties Li, Zhongkui Duan, Zhisheng Xie, Lihua Liu, Xiangdong School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering This article considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. Distributed controllers are designed for both continuous- and discrete-time multi-agent systems, based on the relative states of neighbouring agents and a subset of absolute states of the agents. It is shown for both the continuous- and discrete-time cases that the distributed robust control problems under such controllers in the sense of quadratic stability are equivalent to the H ∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed controller for the continuous-time case, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, a sufficient existence condition in terms of linear matrix inequalities is derived for the distributed discrete-time controller. Finally, the distributed robust H ∞ control problems of uncertain linear multi-agent systems subject to external disturbances are discussed. 2013-07-16T07:25:10Z 2019-12-06T19:34:25Z 2013-07-16T07:25:10Z 2019-12-06T19:34:25Z 2012 2012 Journal Article Li, Z., Duan, Z., Xie, L., & Liu, X. (2012). Distributed robust control of linear multi-agent systems with parameter uncertainties. International Journal of Control, 85(8), 1039-1050. 0020-7179 https://hdl.handle.net/10356/96737 http://hdl.handle.net/10220/11590 10.1080/00207179.2012.674644 en International journal of control © 2012 Taylor & Francis. |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering Li, Zhongkui Duan, Zhisheng Xie, Lihua Liu, Xiangdong Distributed robust control of linear multi-agent systems with parameter uncertainties |
| title | Distributed robust control of linear multi-agent systems with parameter uncertainties |
| title_full | Distributed robust control of linear multi-agent systems with parameter uncertainties |
| title_fullStr | Distributed robust control of linear multi-agent systems with parameter uncertainties |
| title_full_unstemmed | Distributed robust control of linear multi-agent systems with parameter uncertainties |
| title_short | Distributed robust control of linear multi-agent systems with parameter uncertainties |
| title_sort | distributed robust control of linear multi agent systems with parameter uncertainties |
| topic | DRNTU::Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/96737 http://hdl.handle.net/10220/11590 |
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