scholarly journals Distributed Robust H∞ Consensus Control for Uncertain Multiagent Systems with State and Input Delays

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Ping Li ◽  
Kaiyu Qin
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Performance Index ◽  
Disturbance Attenuation ◽  
Matrix Inequalities ◽  
Parameter Uncertainties ◽  
Consensus Control ◽  
Control Protocol ◽  
State And Input Delays ◽  
Input Delays

Robust H∞ consensus control problem is investigated for multiagent systems. Each agent is tackled in a more generalized form, which includes parameter uncertainties, external disturbances, nonidentical time-varying state, and input delays. Firstly, a distributed control protocol based on state feedback of neighbors is designed. By a decoupling method, H∞ consensus control problem for multiagent systems is transformed into H∞ control problem for the decoupling subsystems. Then employing Lyapunov-Krasovskii functional and free-weighting matrices, a lower conservative bounded real lemma (BRL) is derived in terms of linear matrix inequalities (LMIs) such that a class of time-delay system is guaranteed to be globally asymptotically stable with the desired H∞ performance index. Extending BRL, a sufficient delay-dependent condition of lower complexity in terms of the matrix inequalities is obtained to make all agents asymptotically reach consensus with the desired H∞ performance index. Furthermore, an algorithm is elaborately designed to get feasible solution to this condition. Extending this algorithm, an optimization algorithm for control protocol parameter is proposed to improve the disturbance attenuation capacity or allowable delay bounds. Finally, simulation results are provided to illustrate the correctness of the theoretical results and the effectiveness of the algorithms.

scholarly journals Event-Triggered Consensus Control for Leader-Following Multiagent Systems Using Output Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Yang Liu ◽  
Xiaohui Hou
Keyword(s):  
Multiagent Systems ◽  
Output Feedback ◽  
Output Signal ◽  
Internal State ◽  
Disturbance Attenuation ◽  
External Disturbances ◽  
Consensus Control ◽  
State Information ◽  
Leader Following ◽  
Event Triggered

The event-triggered consensus control for leader-following multiagent systems subjected to external disturbances is investigated, by using the output feedback. In particular, a novel distributed event-triggered protocol is proposed by adopting dynamic observers to estimate the internal state information based on the measurable output signal. It is shown that under the developed observer-based event-triggered protocol, multiple agents will reach consensus with the desired disturbance attenuation ability and meanwhile exhibit no Zeno behaviors. Finally, a simulation is presented to verify the obtained results.

An LMI approach to non-fragile robust optimal guaranteed cost control of uncertain 2-D discrete systems with both state and input delays

2016 ◽  
Vol 40 (3) ◽  
pp. 785-804 ◽  
Author(s):  
Akshata Tandon ◽  
Amit Dhawan
Keyword(s):  
Cost Control ◽  
Discrete Systems ◽  
Guaranteed Cost Control ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
Convex Optimization Problem ◽  
Guaranteed Cost ◽  
State And Input Delays ◽  
Input Delays

In this paper, we present a solution to the problem of non-fragile robust optimal guaranteed cost control for a class of uncertain two-dimensional(2-D) discrete systems described by the general model (GM) subject to both state and input delays. The parameter uncertainties are assumed norm-bounded. A linear matrix inequality (LMI)-based sufficient condition for the existence of non-fragile robust guaranteed cost controller is established. Furthermore, a convex optimization problem with LMI constraints is proposed to select a non-fragile robust optimal guaranteed cost controller stabilizing the uncertain 2-D discrete system with both state and input delays as well as achieving the least guaranteed cost for the resulting closed-loop system. The effectiveness of the proposed method is demonstrated with an illustrative example.

scholarly journals Consensus of Delayed Fractional-Order Multiagent Systems Based on State-Derivative Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Jun Liu ◽  
Kaiyu Qin ◽  
Wei Chen ◽  
Ping Li
Keyword(s):  
Graph Theory ◽  
Multiagent Systems ◽  
Fractional Order ◽  
Time Delays ◽  
Multiagent System ◽  
Frequency Domain Analysis ◽  
Consensus Control ◽  
Control Protocol ◽  
Analysis Theory ◽  
Theoretical Results

A state-derivative feedback (SDF) is added into the designed control protocol in the existing paper to enhance the robustness of a fractional-order multiagent system (FMS) against nonuniform time delays in this paper. By applying the graph theory and the frequency-domain analysis theory, consensus conditions are derived to make the delayed FMS based on state-derivative feedback reach consensus. Compared with the consensus control protocol designed in the existing paper, the proposed SDF control protocol with nonuniform time delays can make the FMS with SDF and nonuniform time delays tolerate longer time delays, which means that the convergence speed of states of the delayed FMS with SDF is accelerated indirectly. Finally, the corresponding results of simulation are given to verify the feasibility of our theoretical results.

LMI-Based Robust Control of Norm-Bounded Uncertain Perturbed Discrete Systems with both State and Input Delays

2012 ◽  
Vol 591-593 ◽  
pp. 1208-1211
Author(s):  
Yang Li
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Discrete Systems ◽  
Optimization Techniques ◽  
Linear Matrix ◽  
Parameter Uncertainties ◽  
Operating Region ◽  
State And Input Delays ◽  
Input Delays ◽  
Delay Dependent

This paper is concerned with the problem of norm-bounded uncertain perturbed discrete systems(NUPDS) with both state and input delays.Based on constructing a quadratic Lyapunov function, a delay-dependent criteria, which is expressed in terms of linear matrix inequalities(LMIs), has been proposed to guarantee the asymptotic stability of the system.Compared with existed open literature, this paper suggests a novel controller design method , which deals with more aspects including time-varying parameter uncertainties, perturbation, state and input time-delays.In addition, we also consider the condition of operating region is outer approximated by extended ellipsoids, which can be ultilized for dealing with the perburbed term of the system. The solution of the LMIs can be obtained easily by using existed efficient convex optimization techniques. In the end, a numerical example is given to illustrate the effectiveness of the proposed theoretical result.

scholarly journals Consensus Control of Time-Varying Delayed Multiagent Systems with High-Order Iterative Learning Control

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Xiongfeng Deng ◽  
Xiuxia Sun ◽  
Ri Liu ◽  
Shuguang Liu
Keyword(s):  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
High Order ◽  
Time Varying ◽  
Tracking Errors ◽  
Consensus Control ◽  
Control Protocol

We address the consensus control problem of time-varying delayed multiagent systems with directed communication topology. The model of each agent includes time-varying nonlinear dynamic and external disturbance, where the time-varying nonlinear term satisfies the global Lipschitz condition and the disturbance term satisfies norm-bounded condition. An improved control protocol, that is, a high-order iterative learning control scheme, is applied to cope with consensus tracking problem, where the desired trajectory is generated by a virtual leader agent. Through theoretical analysis, the improved control protocol guarantees that the tracking errors converge asymptotically to a sufficiently small interval under the given convergence conditions. Furthermore, the bounds of initial state difference and disturbances tend to zero; the bound of tracking errors also tends to zero. In the end, some cases are provided to illustrate the effectiveness of the theoretical analysis.

scholarly journals Robust H∞ Consensus Control for Linear Discrete-Time Swarm Systems with Parameter Uncertainties and Time-Varying Delays

2019 ◽  
Vol 2019 ◽  
pp. 1-16
Author(s):  
Xiao Jia ◽  
Laihong Hu ◽  
Fujun Feng ◽  
Jun Xu
Keyword(s):  
Control Problem ◽  
Discrete Time ◽  
Convergence Result ◽  
Linear Matrix ◽  
Time Varying ◽  
Parameter Uncertainties ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Consensus Analysis ◽  
The Stability

Robust H∞ consensus control problems of linear swarm systems with parameter uncertainties and time-varying delays are investigated. In this literature, a linear consensus protocol for high-order discrete-time swarm systems is proposed. Firstly, the robust H∞ consensus control problem of discrete-time swarm systems is transformed into a robust H∞ control problem of a set of independent uncertain systems. Secondly, sufficient linear matrix inequality conditions for robust H∞ consensus analysis of discrete-time swarm systems are given by the stability theory, and a H∞ performance level γ is determined meanwhile. Thirdly, the convergence result is derived as a final consensus value of swarm systems. Finally, numerical examples are presented to demonstrate theoretical results.

scholarly journals Event-Triggered-Based External Consensus Protocol of RBF-ARX-Model-Based Networked Multiagent Systems with Nonlinear Dynamics and Communication Delays

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Qi Lei ◽  
Ying Luo
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Delay Compensation ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Arx Model ◽  
Control Protocol ◽  
The Times ◽  
Networked Multiagent Systems ◽  
Event Triggered

An event-triggered-based external consensus control protocol with delay compensation for networked multiagent systems (NMASs) with nonlinear dynamics and network-induced delays is discussed in this paper. An RBF-ARX modelling method is adopted to approximate a nonlinear system. By utilizing the RBF-ARX model, the locally linearized time series model can be obtained to describe the behaviour of agents with nonlinear characteristics. An event-triggered control protocol with communication delay compensation is proposed to reduce the effects of network-induced delays and the times of the agent’s control update and communication between others by applying the idea of a prediction strategy. The event-triggered mechanism for each agent only depends on the deviation between its own output and the delay-compensated output of neighboring agents. Then, a distributed event-triggered-based and delay-compensated external consensus control protocol is given. Under this proposed control protocol, both the consensus and stability of the system can be proved. Finally, a numerical simulation is performed to verify the availability of our results.

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