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arXiv · 1605.03647

Robust Consensus Analysis and Design under Relative State Constraints or Uncertainties

Dinh Hoa Nguyen·Tatsuo Narikiyo·Michihiro Kawanishi
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Abstract

This paper proposes a new approach to analyze and design distributed robust consensus control protocols for general linear leaderless multi-agent systems (MASs) in presence of relative-state constraints or uncertainties. First, we show that the MAS robust consensus under relative-state constraints or uncertainties is equivalent to the robust stability under state constraints or uncertainties of a transformed MAS. Next, the transformed MAS under state constraints or uncertainties is reformulated as a network of Lur'e systems. By employing S-procedure, Lyapunov theory, and Lasalle's invariance principle, a sufficient condition for robust consensus and the design of robust consensus controller gain are derived from solutions of a distributed LMI convex problem. Finally, numerical examples are introduced to illustrate the effectiveness of the proposed theoretical approach.

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Dinh Hoa Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi. 2016-05-12. Robust Consensus Analysis and Design under Relative State Constraints or Uncertainties. https://arxiv.org/abs/1605.03647

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