H2 input load disturbance rejection controller design for synchronised output regulation of time-delayed multi-agent systems with frequency domain method

作者：Ye, Fei; Zhang, Weidong^*

来源：International Journal of Control, 2019, 92(2): 356-367.

DOI：10.1080/00207179.2017.1357838

• Synchronised output regulation
• multi-agent systems
• time delays
• H-2 performance index
• frequency domain

An analytical H-2 input load disturbance rejection (ILDR) controller design approach is presented for the synchronised output regulation (SOR) of homogeneous time-delayed multi-agent systems. First, a closed-loop multi-input multi-output framework with transfer functions is introduced, and an SOR condition is given. Second, the decomposition method is utilised to simplify the analysis of internal stability and H-2 performance index of the whole system to a set of independent optimisation problems with respect to the eigenvalues of the topology matrix. Finally, for each decomposed subsystem, the H-2 optimal ILDR controller can be computed from all the stabilising controllers. By comparison with the conventional given-structured controllers, the contributions of the new approach are that the design procedure is calculated analytically for multi-agent systems with input disturbances, and a simple quantitative tuning way is developed to trade-off the nominal performance and robustness. The simulation example shows the effective ILDR capability of the proposed control strategy.

• 出版日期2019-2-1
• 单位上海交通大学