Cooperative Control of Multi-agent System Based on Two-Delay Feedback

摘要：

　　The method of designing distributed H∞ two-delay feedback controllers for arbitrary-order multi-agent system with undirected topology is studied in this paper.By introducing H∞ Two-delay controller into multi-agent system,the consensus performance of the system is improved.Firstly,by using the matrix theory,the multi-agent system satisfying the H∞ Performance index is decomposed into several independent subsystems satisfying corresponding H∞ Performance indexes with respect to the eigenvalues of the Laplacian matrix.Then,the problem of designing distributed H∞ Two-delay controllers for the resultant subsystems is converted into the stabilization problem of a set of quasi-polynomials,which can be solved by employing the D-decomposition method.Finally,the set of distributed H∞ Two-delay feedback control parameters is analytically obtained by finding the intersection of the control parameter regions for all the decomposed subsystems satisfying the corresponding H∞ Performance index.The simulation results demonstrate the effectiveness of the proposed method.

关键词： multi-agent system time-delay two-delay controller H∞ performance index

作者: ZHAO Qianyi OU Linlin SHEN Bingwei CHEN Junjie

作者单位: College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1710-1715

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）