H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

Abstract

The paper investigates a leader-following scheme for nonlinear multi-agent systems (MASs). The network of agents involves time-delay, unknown leader’s states, external perturbations, and switching graph topologies. Two distributed protocols including a consensus protocol and an observer are utilized to reconstruct the unavailable states of the leader in a network of agents. The H∞-based stability conditions for estimation and consensus problems are obtained in the framework of linear-matrix inequalities (LMIs) and the Lyapunov-Krasovskii approach. It is ensured that each agent achieves the leader-following agreement asymptotically. Moreover, the robustness of the control policy concerning a gain perturbation is guaranteed. Simulation results are performed to assess the suggested schemes. It is shown that the suggested approach gives a remarkable accuracy in the consensus problem and leader’s states estimation in the presence of time-varying gain perturbations, time-delay, switching topology and disturbances. The H∞ and LMIs conditions are well satisfied and the error trajectories are well converged to the origin.

A memory state-feedback controller via random pocket dropouts for multi-agent systems with external disturbance

“…In [30], the authors discussed state-feedback control (SFC) of MASs in the communication channels under data packet dropout through markovian approach. H ∞ control of MASs under time-delayed signal condition with unknown leader states and switching graph has been discussed in [33]. In [28], the authors derived an adaptive SFC scheme for the output consensus of MASs.…”