Robust Protocol-Based ℋ∞ Consensus Control of Time-Varying Uncertain Multiagent Systems Subject to Missing Measurements

Mengmeng Sun,Dongyan Chen

doi:10.1155/2019/7121652

Abstract

In this paper, we consider the design problem of a robust ℋ∞ consensus controller for discrete time-varying uncertain multiagent systems (DTVUMASs) with stochastic communication protocol (SCP) and missing measurements. The SCP is described by a set of random variables with a known probability to arrange signal transmission of addressed multiagent systems. Moreover, we depict the missing measurement phenomenon by a sequence of Bernoulli-distributed random variables having known probabilities. The controller parameters are designed to ensure that the closed-loop DTVUMASs satisfy the ℋ∞ performance with the satisfactory consensus criterion. Together with the completing squares approach and the stochastic analysis methodology, some sufficient conditions are proposed by solving coupled backward recursive Riccati difference equations (BRRDEs) to guarantee the ℋ∞ consensus performance. Finally, we present a numerical simulation example to illustrate the effectiveness of the designed controller design scheme.

Highlights

Over the past few decades, the consensus control problems for multiagent systems (MASs) were received special attention due to their extensive applications in a variety of elds, such as unmanned vehicle, robots formation, and target tracking. e major aim of the consensus control is to introduce a suitable controller for each agent, which can be designed by using its neighboring and its own local information, such that all agents reach some common features [1, 2]. e consensus control problems for rst-order multiagent systems with switching topology and time delays were studied in [1], and the initiative works were conducted to solving the consensus control problems of rst-order multiagent systems (FOMASs)
In [10], the leader-following consensus control problems of high-order multiagent systems (HOMASs) were solved by using a novel distributed eventtriggered communication protocol based on state estimates of neighboring agents
In [26], the distributed H∞ consensus control problem was handled for discrete time-varying multiagent systems with the stochastic communication protocol (SCP), where a cooperative controller was designed for each agent such that the MASs achieved H∞ consensus performance over a given finite-horizon by solving coupled backward recursive Riccati di erence equations (BRRDEs)

Summary

Introduction

Over the past few decades, the consensus control problems for multiagent systems (MASs) were received special attention due to their extensive applications in a variety of elds, such as unmanned vehicle, robots formation, and target tracking. e major aim of the consensus control is to introduce a suitable controller for each agent, which can be designed by using its neighboring and its own local information, such that all agents reach some common features [1, 2]. e consensus control problems for rst-order multiagent systems with switching topology and time delays were studied in [1], and the initiative works were conducted to solving the consensus control problems of rst-order multiagent systems (FOMASs). In [26], the distributed H∞ consensus control problem was handled for discrete time-varying multiagent systems with the SCP, where a cooperative controller was designed for each agent such that the MASs achieved H∞ consensus performance over a given finite-horizon by solving coupled BRRDEs. It should be noted that the MASs with timevarying parameters are common in network environments [27,28,29,30]. As discussed in [33], the coupled BRRDEs were used to deal with the H∞ consensus control problems subject to missing measurements and parameter uncertainties for discrete time-varying MASs. As such, we aim to study the consensus control issue for time-varying multiagent systems with SCP and missing measurements in depth, where a new control scheme will be proposed to ensure the design requirements. SCP and missing measurements. (2) Some sufficient conditions are proposed to guarantee the corresponding H∞ consensus condition over a finite-horizon. (3) A coupled

Problem Formulation

Control Scheme Design

A Simulation Example

Conclusion