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arXiv · 1309.0365

Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph

Yi Cheng·V. Ugrinovskii·Guanghui Wen
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Abstract

This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent's states relative to its neighbors and leader's state relative to agents which observe the leader. A sufficient condition is obtained by overbounding the cost function. Based on this sufficient condition, a computational algorithm is introduced to minimize the proposed guaranteed bound on tracking performance, which yields a suboptimal bound on the system consensus control and tracking performance. The effectiveness of the proposed method is demonstrated using a simulation example.

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Yi Cheng, V. Ugrinovskii, Guanghui Wen. 2013-09-02. Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph. https://arxiv.org/abs/1309.0365

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