TY - GEN
T1 - Design of Robust Hierarchical Control for Homogeneous Multi-Agent Systems with Parametric Uncertainty and Exogenous Disturbance
AU - Van Pham, Tuynh
AU - Hoa Nguyen, Dinh
AU - Banjerdpongchai, David
N1 - Funding Information:
We gratefully acknowledge the research grant from JICA project for AUN/SEED-Net and the research facilities provided by the Department of Electrical Engineering, Chu-lalongkorn University, and the International Institute for Carbon-Neutral Energy Research, Institute of Mathematics for Industry, Kyushu University.
Funding Information:
*This work was supported by JICA project for AUN/SEED-Net 1Tuynh Van Pham and 3David Banjerdpongchai are currently with the Department of Electrical Engineering, Chulalongkorn University, Bangkok 10330, Thailand tuynhvanpham@gmail.com, bdavid@chula.ac.th 2Dinh Hoa Nguyen is with the International Institute for Carbon-Neutral Energy Research (WPI-I2CNER), and Institute of Mathematics for Industry (IMI), Kyushu University, Fukuoka 819-0395, Japan hoa.nd@i2cner.kyushu-u.ac.jp
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:85069928663
T3 - 2019 12th Asian Control Conference, ASCC 2019
SP - 937
EP - 942
BT - 2019 12th Asian Control Conference, ASCC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th Asian Control Conference, ASCC 2019
Y2 - 9 June 2019 through 12 June 2019
ER -