Open AccessDistributed robust output consensus for linear multi‐agent systems with input time‐varying delays and parameter uncertainties
Author(s) -
Fiengo Giovanni,
Lui Dario Giuseppe,
Petrillo Alberto,
Santini Stefania
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.2018.5367
Subject(s) - control theory (sociology) , robust control , computer science , linear matrix inequality , stability (learning theory) , lyapunov stability , linear system , consensus , multi agent system , domain (mathematical analysis) , mathematics , control (management) , control system , mathematical optimization , engineering , artificial intelligence , mathematical analysis , machine learning , electrical engineering
This study addresses the leader‐tracking problem for linear multi‐agent systems in the presence of both parameter model uncertainties and time‐varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional–integral–derivative control is proposed and the overall closed‐loop stability is proven by exploiting the Lyapunov–Krasovskii theory. Delay‐dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.