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Optimal consensus for uncertain high‐order multi‐agent systems by output feedback
Author(s) -
Tang Yutao,
Zhu Kui
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5928
Subject(s) - control theory (sociology) , consensus , parametric statistics , multi agent system , computer science , observer (physics) , output feedback , mathematical optimization , controller (irrigation) , graph , robust control , decentralised system , feedback control , control (management) , control system , mathematics , control engineering , engineering , artificial intelligence , theoretical computer science , statistics , physics , electrical engineering , quantum mechanics , agronomy , biology
The distributed optimal output consensus problem for high‐order multi‐agent systems has been studied recently. In this article, we further focus on the same problem for high‐order multi‐agent systems subject to parametric uncertainties and aim at distributed robust controllers by measurement output feedback. We first develop a dynamic compensator to estimate the expected optimal consensus point and convert the problem into several decentralized robust tracking problems. Then, by combining the integral control technique and dirty derivative observer technique, we constructively propose a distributed output feedback integral controller to solve this problem under a mild graph connectivity condition.