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

Tuynh Van Pham, Dinh Hoa Nguyen, David Banjerdpongchai

    研究成果: Chapter in Book/Report/Conference proceedingConference contribution

    抄録

    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.

    本文言語英語
    ホスト出版物のタイトル2019 12th Asian Control Conference, ASCC 2019
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ937-942
    ページ数6
    ISBN(電子版)9784888983006
    出版ステータス出版済み - 6 2019
    イベント12th Asian Control Conference, ASCC 2019 - Kitakyushu-shi, 日本
    継続期間: 6 9 20196 12 2019

    出版物シリーズ

    名前2019 12th Asian Control Conference, ASCC 2019

    会議

    会議12th Asian Control Conference, ASCC 2019
    国/地域日本
    CityKitakyushu-shi
    Period6/9/196/12/19

    All Science Journal Classification (ASJC) codes

    • コンピュータ サイエンスの応用
    • 制御と最適化
    • 機械工学

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