Robust consensus analysis and design under relative state constraints or uncertainties

Hoa Dinh Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi

Research output: Contribution to journalArticle

Abstract

This paper proposes a novel approach to analyze and design distributed robust consensus control algorithms for general linear leaderless multiagent systems (MASs) subjected to relative-state constraints or uncertainties represented by a locally or a globally sector-bounded condition. First, we show that the MAS robust consensus design under relative-state constraints or uncertainties is equivalent to the robust stability design under state constraints or uncertainties of a transformed MAS, which has lower dimensions. Next, the transformed MAS under state constraints or uncertainties is reformulated as a networked Lur'e system. By employing the S-procedure and Lyapunov theory, sufficient conditions for robust consensus and the designs of robust consensus controller gain are derived from solutions of distributed linear matrix inequality (LMI) convex problems. Finally, numerical examples are introduced to illustrate the effectiveness of the proposed theoretical approach.

Original languageEnglish
Pages (from-to)1694-1700
Number of pages7
JournalIEEE Transactions on Automatic Control
Volume63
Issue number6
DOIs
Publication statusPublished - Jun 1 2018

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Multi agent systems
Robust control
Linear matrix inequalities
Controllers
Uncertainty

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Robust consensus analysis and design under relative state constraints or uncertainties. / Nguyen, Hoa Dinh; Narikiyo, Tatsuo; Kawanishi, Michihiro.

In: IEEE Transactions on Automatic Control, Vol. 63, No. 6, 01.06.2018, p. 1694-1700.

Research output: Contribution to journalArticle

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