Distributed Quadratic Stabilization of Uncertain Linear Multi-Agent Systems

摘要：

This paper considers the distributed quadratic stabilization problems of uncertain continuous-time linear multiagent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous multi-agent systems. A distributed controller is proposed, based on the relative states of neighboring agents and a subset of absolute states of the agents. It is shown that the distributed quadratic stabilization problem under such a controller is equivalent to the H∞ control problems of a set of decoupled linear systems having the same dimensions as a single agent. A two-step algorithm is presented to construct the distributed robust controller, which does not involve any conservatism and meanwhile decouples the feedback gain design from the communication topology. Furthermore, the distributed quadratic H∞ control problem of uncertain linear multi-agent systems with external disturbances is discussed, which can be reduced to the scaled H∞ control problems of a set of independent systems whose dimensions are equal to that of a single agent.

关键词： Multi-agent system distributed control robustness H∞ control parameter uncertainty

作者: Zhongkui Li Zhisheng Duan Lihua Xie Xiangdong Liu

作者单位: Key laboratory for Intelligent Control &Decision of Complex Systems, School of Automation, Beijing I State Key Lab for Turbulence and Complex Systems,Department of Mechanics and Aerospace Engineering, School of Electrical and ElectronicEngineering, Nanyang Technological University, 639798, Singapore Key laboratory for Intelligent Control & Decision of Complex Systems, School of Automation, Beijing

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 568-573

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）