Design of Robust Hierarchical Control for Homogeneous Multi-Agent Systems with Parametric Uncertainty and Exogenous Disturbance

Tuynh Van Pham, Dinh Hoa Nguyen, David Banjerdpongchai

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper proposes robust control synthesis for homogeneous leaderless multi-agent systems (MASs) subjected to parametric uncertainty and exogenous disturbance. We employ an approach of robust H2 hierarchical decentralized control. This approach utilizes a linear quadratic performance criterion which composes of local and global terms. Local term represents local control action of agents whereas the global term deals with cooperation among agents. We formulate design of the local and global feedback control laws as optimization over linear matrix inequality (LMI). Furthermore, the LMI formulation can incorporate a specified constraint on disturbance attenuation. Finally, a design procedure and numerical examples are provided to illustrate the effectiveness of the proposed robust H2 design approach.

    Original languageEnglish
    Title of host publication2019 12th Asian Control Conference, ASCC 2019
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages937-942
    Number of pages6
    ISBN (Electronic)9784888983006
    Publication statusPublished - Jun 2019
    Event12th Asian Control Conference, ASCC 2019 - Kitakyushu-shi, Japan
    Duration: Jun 9 2019Jun 12 2019

    Publication series

    Name2019 12th Asian Control Conference, ASCC 2019

    Conference

    Conference12th Asian Control Conference, ASCC 2019
    CountryJapan
    CityKitakyushu-shi
    Period6/9/196/12/19

    All Science Journal Classification (ASJC) codes

    • Computer Science Applications
    • Control and Optimization
    • Mechanical Engineering

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