Abstract
ABSTRACTThis paper addresses the problem of leader-following consensus control of multi-agent systems subject to time-varying parameters and local, external disturbances. The agent dynamics are considered to be heterogeneous and represented in the form of parameter-dependent linear fractional transformation (LFT). A novel distributed gain-scheduling control protocol is proposed, which consists of a distributed observer and a gain-scheduling LFT output-feedback controller. No plant state/output information but the local observer's estimation state is required to share among neighbouring agents. Under this new distributed control scheme, the overall network consensus with optimal disturbance attenuation performance can be achieved effectively by solving a set of independent convex optimisation problems. Simulation studies on synchronisation of multiple electrical circuit systems have been conducted to demonstrate the proposed approach.
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