Distributed RobustH∞Consensus Control of Multiagent Systems with Communication Errors Using Dynamic Output Feedback Protocol

Xi Yang,Jinzhi Wang

doi:10.1155/2013/979087

Abstract

This paper studies robust consensus problem for multiagent systems modeled by an identical linear time-invariant system under a fixed communication topology. Communication errors in the transferred data are considered, and only the relative output information between each agent and its neighbors is available. A distributed dynamic output feedback protocol is proposed, and sufficient conditions for reaching consensus with a prescribedH∞performance are presented. Numerical examples are given to illustrate the theoretical results.

Highlights

Consensus problem of multiagent systems has been a popular subject in system and control theory due to its widespread applications such as satellite formation flying, cooperative unmanned air vehicles, and mobile robots [1,2,3]
This paper studies robust consensus problem for multiagent systems modeled by an identical linear time-invariant system under a fixed communication topology
Based on the low gain approach, [18] proposed a consensus protocol which only used the relative outputs for N identical linear dynamics with fixed directed communication topologies

Summary

Introduction

Consensus problem of multiagent systems has been a popular subject in system and control theory due to its widespread applications such as satellite formation flying, cooperative unmanned air vehicles, and mobile robots [1,2,3]. Reference [17] constructed a dynamic output feedback protocol based on a observer for the synchronization of a network of identical linear state space models under a possibly time-varying and directed interconnection, where each agent needs to obtain all the observer’s state information of its neighbors. Based on the low gain approach, [18] proposed a consensus protocol which only used the relative outputs for N identical linear dynamics with fixed directed communication topologies. Motivated by the above-mentioned works, we study the consensus problem for linear multiagent systems to attenuate the communication errors by using dynamic output feedback controller. It is shown that consensus with H∞ performance can be achieved if there exists a common dynamic output feedback controller which can be realized by solving H∞ problem for N−1 linear dynamic systems simultaneously, where N is the number of agents.

Preliminaries

Numerical Example

Conclusions