Open AccessConvexified H ∞ output‐feedback consensus synthesis for linear multi‐agent systems
Author(s) -
Xue Xiangming,
Yuan Chengzhi,
Wu Fen
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5337
Subject(s) - control theory (sociology) , computer science , linear matrix inequality , output feedback , multi agent system , controller (irrigation) , consensus , convex optimization , protocol (science) , state (computer science) , transformation (genetics) , lyapunov function , set (abstract data type) , linear fractional transformation , regular polygon , mathematical optimization , control (management) , mathematics , nonlinear system , control system , robust control , engineering , algorithm , alternative medicine , chemistry , pathology , biology , biochemistry , geometry , quantum mechanics , agronomy , programming language , medicine , physics , electrical engineering , gene , artificial intelligence
This study addresses theH ∞ consensus problem for linear multi‐agent systems subject to external disturbances under the leaderless framework. A novel distributed dynamic output feedback control protocol is proposed, which utilises not only relative output information of neighbouring agents but also relative state information of neighbouring controllers. Through model transformation, theH ∞ consensus control problem of multi‐agents network is reduced to a set of independentH ∞ stabilisation subproblems for n ‐dimensional linear systems. Sufficient analysis conditions are derived using the Lyapunov method. An important contribution of this work lies in that the leaderlessH ∞ output‐feedback consensus synthesis conditions are convexified without introducing any conservatism and formulated as linear matrix inequalities, which can be solved efficiently via convex optimisation. This is achieved by using a novel dynamic output‐feedback controller structure. A numerical example has been used to demonstrate the advantage of theoretical results.