Robust Optimal Consensus for Multi-Agent Systems with Uncertainty and Time-Delay
This paper is devoted to the robust optimal coordination in directed networks of agents with uncertainty and time-delay, where each agent updates its state based upon the information received from other agents according to a simple rule. The uncertainty is assumed to be norm-bounded and timevarying and a cost performance index is proposed for the energy consumption of all agents. For convergence analysis of the networks, a class of positive semidefinite Lyapunov functions are introduced as a measure of the disagreement dynamics. Using these Lyapunov functions, sufficient conditions are derived for state consensus of system with desired cost performance in the absence and presence of timedelay. Furthermore, a procedure is given to minimize the upper bound of the cost function. Finally, simulation results are provided to demonstrate the effectiveness of the obtained results.
consensus time-delay optimal control directed graph multi-agent systems
Lipo Mo Xianbing Cao Hongbo Zhou
College of Computer and Information Engineering Beijing Technology and Business University Beijing,P Department of Computer Science Southern Illinois University Carbondale,IL,USA
国际会议
太原
英文
403-409
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）