Low-rank Distributed Consensus Controller Design for Linear Multi-Agent Systems under Randomly Switching Directed Topologies and Model Uncertainties

Dinh Hoa Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper proposes a novel approach to design distributed consensus controllers for linear MASs subjected to fixed and randomly switching directed topologies and model uncertainties. Employing the idea of selective pole shift based on LQR method, our approach provides a systematic framework to synthesize fully distributed consensus controllers which have low rank and non-conservative coupling strengths. In addition, our approach enables to broaden the class of randomly switching topologies in which the switching component graphs need not to be balanced. Next, we show that all aforementioned remarkable features also apply to the context that dynamics of agents are heterogeneous caused by parametric multiplicative uncertainties in their models. Finally, a numerical example is presented to illustrate the effectiveness of the proposed theoretical approach.

Original languageEnglish
Pages (from-to)2465-2470
Number of pages6
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
Publication statusPublished - Jul 2017

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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