具有输入时滞多智能体系统的鲁棒<i>H</i><sub>∞</sub>趋同控制

李振兴; 季海波

doi:10.3724/SP.J.1004.2014.02556

具有输入时滞多智能体系统的鲁棒H_∞趋同控制

doi: 10.3724/SP.J.1004.2014.02556

1.
中国科学技术大学合肥 230027

基金项目:

Supported by National Natural Science Foundation of China (61273090)

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出版历程
- 收稿日期: 2013-06-20
- 修回日期: 2013-10-29
- 刊出日期: 2014-11-20

Robust Delay-dependent H_∞ Consensus Control for Multi-agent Systems with Input Delays

1.
Department of Automation, University of Science and Technology of China, Hefei 230027, China

Funds:

Supported by National Natural Science Foundation of China (61273090)

摘要

摘要: 讨论了同时受外部扰动,输入时滞以及网络模型不确定的多智能体系统的趋同控制.通过定义一个适当的控制输出,我们将这个问题转化一个鲁棒H∞控制问题.基于此,我们给出了两个判断闭环多智能体系统趋同的准则,并且运用锥补线性化算法得到状态反馈控制器的参数.最后,给出一个仿真用以验证我们趋同算法的有效性.
- 趋同 /
- 多智能体系统 /
- H∞控制 /
- 输入时滞 /
- 无向图
Abstract: This paper investigates the consensus control for multi-agent systems subject to external disturbances, input delays and model uncertainties of networks. By defining an appropriate controlled output, we transform this question into a robust H∞ control problem. Then, we give two criteria to judge the consensusability of closed-loop multi-agent systems and present a conecomplementary linearization algorithm to get the state feedback controller′s parameters. Finally, numerical examples are given to show the effectiveness of the proposed consensus protocols.
- Consensus /
- multi-agent system /
- H∞ control /
- input delays /
- undirected graph

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参考文献(21)

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