$\mathcal{H}_{\infty}$ Consensus Control of Multi-Agent Systems Subject to Diverse Time-Varying Input Delays via Dynamic Output Feedback

2018 ◽  
Author(s):  
Chengzhi Yuan ◽  
Fen Wu
Keyword(s):  
Output Feedback ◽  
Dynamic Output Feedback ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
Dynamic Output ◽  
Multi Agent ◽  
Input Delays

Leader-Following Consensus Control of General Linear Multi-Agent Systems With Diverse Time-Varying Input Delays

2017 ◽  
Vol 140 (6) ◽  
Author(s):  
Chengzhi Yuan
Keyword(s):  
Single Agent ◽  
General Linear ◽  
Control Synthesis ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Input Delays

This paper addresses the problem of leader-following consensus control of general linear multi-agent systems (MASs) with diverse time-varying input delays under the integral quadratic constraint (IQC) framework. A novel exact-memory distributed output-feedback delay controller structure is proposed, which utilizes not only relative estimation state information from neighboring agents but also local real-time information of time delays and the associated dynamic IQC-induced states from the agent itself for feedback control. As a result, the distributed consensus problem can be decomposed into H∞ stabilization subproblems for a set of independent linear fractional transformation (LFT) systems, whose dimensions are equal to that of a single agent plant plus the associated local IQC dynamics. New delay control synthesis conditions for each subproblem are fully characterized as linear matrix inequalities (LMIs). A numerical example is used to demonstrate the proposed approach.

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