Title

Convexified ∞ output-feedback consensus synthesis for linear multi-agent systems

Document Type

Article

Date of Original Version

7-23-2019

Abstract

This study addresses the ℋ∞ consensus problem for linear multi-agent systems subject to external disturbances under the leaderless framework. A novel distributed dynamic output feedback control protocol is proposed, which utilises not only relative output information of neighbouring agents but also relative state information of neighbouring controllers. Through model transformation, the ℋ∞ consensus control problem of multi-agents network is reduced to a set of independent ℋ∞ stabilisation subproblems for n-dimensional linear systems. Sufficient analysis conditions are derived using the Lyapunov method. An important contribution of this work lies in that the leaderless ℋ∞ output-feedback consensus synthesis conditions are convexified without introducing any conservatism and formulated as linear matrix inequalities, which can be solved efficiently via convex optimisation. This is achieved by using a novel dynamic output-feedback controller structure. A numerical example has been used to demonstrate the advantage of theoretical results.

Publication Title

IET Control Theory and Applications

Volume

13

Issue

11

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