TY - JOUR
T1 - Design of robust hierarchical control for homogeneous linear multi-agent systems with parametric uncertainty and external disturbance
AU - Van Pham, Tuynh
AU - Hoa Nguyen, Dinh
AU - Banjerdpongchai, David
N1 - Funding Information:
This work was supported by the Collaborative Research Grant from JICA Project for AUN/SEED-Net and the Research Grant from Rachadapisek Sompote Fund for Intelligent Control Automation of Process Systems Research Unit.
Publisher Copyright:
© 2021 Informa UK Limited, trading as Taylor & Francis Group.
PY - 2021
Y1 - 2021
N2 - This paper presents the design of robust hierarchical control for homogeneous linear multi-agent systems (MAS) subject to parametric uncertainty and external disturbance. Specifically, the control design is based on a two-layer hierarchical structure consisting of an upper layer and a lower layer. In the lower layer, each agent is represented by a linear time-invariant system and executes a local action. Moreover, each agent exchanges information with neighbouring agents in the upper layer through an undirected graph to achieve the global goal of stabilisation and disturbance attenuation for the MAS. We propose two robust control designs, namely, robust (Formula presented.) hierarchical control and robust (Formula presented.) hierarchical control. The design of local and global feedback control laws is formulated as a constrained optimisation over linear matrix inequalities (LMI). The LMI formulation can effectively incorporate the design objective to minimise disturbance attenuation. Numerical results show that the proposed robust controls ensure robust stability of MAS and outperform the existing nominal controls by improving the disturbance attenuation.
AB - This paper presents the design of robust hierarchical control for homogeneous linear multi-agent systems (MAS) subject to parametric uncertainty and external disturbance. Specifically, the control design is based on a two-layer hierarchical structure consisting of an upper layer and a lower layer. In the lower layer, each agent is represented by a linear time-invariant system and executes a local action. Moreover, each agent exchanges information with neighbouring agents in the upper layer through an undirected graph to achieve the global goal of stabilisation and disturbance attenuation for the MAS. We propose two robust control designs, namely, robust (Formula presented.) hierarchical control and robust (Formula presented.) hierarchical control. The design of local and global feedback control laws is formulated as a constrained optimisation over linear matrix inequalities (LMI). The LMI formulation can effectively incorporate the design objective to minimise disturbance attenuation. Numerical results show that the proposed robust controls ensure robust stability of MAS and outperform the existing nominal controls by improving the disturbance attenuation.
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U2 - 10.1080/00207179.2021.1992671
DO - 10.1080/00207179.2021.1992671
M3 - Article
AN - SCOPUS:85118465399
JO - International Journal of Control
JF - International Journal of Control
SN - 0020-7179
ER -