Robust Guaranteed Cost Formation Control for Multi-agent Systems with Uncertain Topologies - Details

Author：

Zhang, Yaxiao (Zhang, Yaxiao.) | Tong, Shiwen (Tong, Shiwen.) | Chen, Yangzhou (Chen, Yangzhou.) (Scholars：陈阳舟) | Huang, Ning (Huang, Ning.)

Indexed by：

EI Scopus

Abstract：

This　paper　investigates　a　robust　guaranteed　cost　formation　problem　for　a　class　of　continuous-time　linear　high-order　multi-agent　systems　with　uncertain　communication　topology　which　is　modeled　by　directed　graph.　Firstly,　the　robust　guaranteed　cost　formation　problem　is　transformed　into　a　robust　guaranteed　cost　control　problem　of　an　auxiliary　uncertain　system　by　a　linear　transformation.　Secondly,　a　sufficient　condition　for　the　robust　guaranteed　cost　formation　control　problem　is　presented　in　terms　of　linear　matrix　inequality　techniques,　and　an　upper　bound　of　the　guaranteed　cost　function　is　given.　Finally,　a　numerical　example　is　shown　to　demonstrate　the　effectiveness　of　the　theoretical　results.　©　2020　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.

Keyword：

Linear transformations Multi agent systems Linear matrix inequalities Continuous time systems Directed graphs Cost functions Topology Mathematical transformations

Author Community：

[ 1 ] [Zhang, Yaxiao]Beijing Union University, Beijing Key Laboratory of Information Service Engineering, Beijing; 100101, China
[ 2 ] [Tong, Shiwen]Beijing Union University, Beijing Key Laboratory of Information Service Engineering, Beijing; 100101, China
[ 3 ] [Chen, Yangzhou]Beijing University of Technology, College of Artificial Intelligence and Automation, Beijing; 100124, China
[ 4 ] [Huang, Ning]Beijing Spacecrafts Ltd, Beijing; 100094, China