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Distributed Robust H ∞ Consensus for Multi‐Agent Systems with Nonlinear Dynamics and Parameter Uncertainties
Author(s) -
Wang Yinqiu,
Wu Qinghe
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.891
Subject(s) - lipschitz continuity , control theory (sociology) , nonlinear system , consensus , linear matrix inequality , multi agent system , mathematics , controller (irrigation) , dimension (graph theory) , graph theory , graph , mathematical optimization , directed graph , control (management) , computer science , algorithm , discrete mathematics , artificial intelligence , mathematical analysis , quantum mechanics , combinatorics , pure mathematics , agronomy , biology , physics
In this study, the consensus problem is discussed for a class of multi‐agent systems with unknown Lipschitz nonlinear dynamics, external disturbances, and parameter uncertainties under a fixed directed graph. By some model transformations, the consensus problem becomes a reduced‐order H ∞ control problem. Based on the reduced‐order control problem, sufficient conditions to achieve the consensus with the desired H ∞ performance are presented. These conditions are to check the solvability of only one linear matrix inequality ( LMI ) and the dimension of the LMI independent of the number of agents in the network. Moreover, an algorithm is proposed to design the dynamic output feedback controller. Simulation on networked multi‐agents is provided to show the effectiveness of the theoretical results.