Open AccessSynthesis of Formation Control Systems for Multi-Agent Systems under Control Gain Perturbations
Author(s) -
Kazuki Miyakoshi,
Shun Ito,
Hidetoshi Oya,
Yoshikatsu Hoshi,
Shigekazu Nagai
Publication year - 2020
Publication title -
advances in technology innovation
Language(s) - English
Resource type - Journals
eISSN - 2518-2994
pISSN - 2415-0436
DOI - 10.46604/aiti.2020.4136
Subject(s) - control theory (sociology) , linear matrix inequality , upper and lower bounds , controller (irrigation) , convex optimization , cost control , mathematical optimization , mathematics , quadratic equation , function (biology) , control (management) , control system , computer science , regular polygon , engineering , mathematical analysis , statistics , geometry , artificial intelligence , evolutionary biology , agronomy , biology , electrical engineering
This paper proposed a linear matrix inequality (LMI)-based design method of non-fragile guaranteed cost controllers for multi-agent systems (MASs) with leader-follower structures. In the guaranteed cost control approach, the resultant controller guarantees an upper bound on the given cost function together with asymptotical stability for the closed-loop system. The proposed non-fragile guaranteed cost control system can achieve consensus for MASs despite control gain perturbations. The goal is to develop an LMI-based sufficient condition for the existence of the proposed non-fragile guaranteed cost controller. Moreover, a design problem of an optimal non-fragile guaranteed cost controller showe that minimizing an upper bound on the given quadratic cost function can be reduced to constrain a convex optimization problem. Finally, numerical examples were given to illustrate the effectiveness of the proposed non-fragile controller for MASs.