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摘要
Robust H-infinity consensus control problem is investigated for multiagent systems. Each agent is tackled in a more generalized form, which includes parameter uncertainties, external disturbances, nonidentical time-varying state, and input delays. Firstly, a distributed control protocol based on state feedback of neighbors is designed. By a decoupling method,H-infinity consensus control problem for multiagent systems is transformed into H-infinity control problem for the decoupling subsystems. Then employing LyapunovKrasovskii functional and free-weighting matrices, a lower conservative bounded real lemma (BRL) is derived in terms of linear matrix inequalities (LMIs) such that a class of time-delay system is guaranteed to be globally asymptotically stable with the desired H-infinity performance index. Extending BRL, a sufficient delay-dependent condition of lower complexity in terms of the matrix inequalities is obtained to make all agents asymptotically reach consensus with the desired H-infinity performance index. Furthermore, an algorithm is elaborately designed to get feasible solution to this condition. Extending this algorithm, an optimization algorithm for control protocol parameter is proposed to improve the disturbance attenuation capacity or allowable delay bounds. Finally, simulation results are provided to illustrate the correctness of the theoretical results and the effectiveness of the algorithms.
- 出版日期2017
- 单位电子科技大学
