Open AccessIterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance
Author(s) -
Tuynh Van Pham,
Dinh Hoa Nguyen,
David Banjerdpongchai
Publication year - 2021
Publication title -
ieee access
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.587
H-Index - 127
ISSN - 2169-3536
DOI - 10.1109/access.2021.3126424
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
This paper investigates design of robust hierarchical control for linear multi-agent systems (MAS) subject to polytopic uncertainty and external disturbance. Each agent of MAS is described by a homogeneous linear time-invariant dynamic model. The control structure has two layers, namely, an upper layer and a lower layer. Local actions are executed in the lower layer. Each agent shares information through an undirected graph with neighboring agents in the upper layer to achieve the global stabilization and disturbance attenuation. We employ a parameter-dependent Lyapunov function to formulate the robust control design of the local and global feedback in terms of bilinear matrix inequalities and incorporate constraints on disturbance attenuation. We propose the sufficient condition, where system matrices and Lyapunov variables are separated. The parameterization of the controller depends on a common slack variable instead of the Lyapunov matrices. We develop an iterative approach based on the coordinated optimization to solve sub-problems over linear matrix inequalities. Numerical examples are provided to demonstrate the effectiveness of the proposed robust control designs. It is shown that our proposed robust control designs outperform other robust control designs in terms of achievable disturbance attenuation and maximum admissible uncertainty bound.