Distributed robust consensus of linear multi-agent systems with switching topologies
- Author(s): Zixi Li 1
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View affiliations
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Affiliations:
1:
Department of Systems Innovation , Osaka University , Osaka 560-8531 , Japan
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Affiliations:
1:
Department of Systems Innovation , Osaka University , Osaka 560-8531 , Japan
- Source:
Volume 2015, Issue 1,
January
2015,
p.
17 – 24
DOI: 10.1049/joe.2014.0288 , Online ISSN 2051-3305
This paper studies the consensus problem of multi-agent systems consisting of general linear node dynamics with external disturbances in transmission channels under fixed and switching communication topologies. A distributed observer-type robust consensus protocol based on relative output measurements is proposed. A model transformation approach is introduced to address the robust consensus of multi-agent systems. Some conditions for robust consensus are given in terms of linear matrix inequalities for fixed and jointly connected communication topologies. A multi-step robust consensus protocol design procedure is further presented. Finally, the effectiveness of the theoretical results is demonstrated through numerical simulations.
Inspec keywords: topology; linear systems; multi-agent systems; linear matrix inequalities
Other keywords: multistep robust consensus protocol design procedure; distributed robust consensus; linear matrix inequalities; external disturbances; transmission channels; linear multiagent systems; fixed communication topology; distributed observer-type robust consensus protocol; numerical simulations; switching topologies; switching communication topology; general linear node dynamics; model transformation approach; relative output measurements
Subjects: Algebra; Combinatorial mathematics; Artificial intelligence (theory)
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