Robust H∞ Consensus Control for High-order Discrete-time Multi-agent Systems With Parameter Uncertainties and External Disturbances
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摘要: 研究了高阶离散多智能体系统的在参数不确定和带外部干扰下的H∞鲁棒一致性控制问题，同时提出线性分布式一致性协议.首先将该问题转化为一组不确定系统的H∞鲁棒控制问题.其次推导出线性矩阵不等式在参数为γ的H∞鲁棒一致性意义下的充分条件.第三，给出了所提出一致性协议在不带外部干扰，参数不确定的高阶离散线性多智能体系统中的收敛效果.最后，通过包含和不包含参数不确定系统的对比仿真实验说明了理论结果的正确性和有效性.Abstract: The robust H∞ consensus control problem of highorder discrete-time multi-agent systems with parameter uncertainties and external disturbances is studied, and a linear distributed consensus protocol is designed in this paper. Firstly, the robust H∞ consensus control problem of high-order discrete-time multi-agent systems with parameter uncertainties and external disturbances is transformed to a robust H∞ control problem of a set of independent uncertain systems. Secondly, a sufficient linear matrix inequality (LMI) condition is derived to insure that high-order discrete-time multi-agent systems with parameter uncertainties and external disturbances achieve robust consensus with a H∞ performance level γ. Thirdly, convergence results are given as final consensus values of high-order discrete-time linear multi-agent systems with parameter uncertainties and without external disturbances. Finally, a contrast numerical experiment with and without parameter uncertainties is provided to demonstrate the correctness and effectiveness of the theoretical results.
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Key words:
- External disturbances /
- multi-agent systems(MASs) /
- parameter uncertainties /
- robust H∞ consensus control
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