Title :
Robust H∞ formation control for multi-agent systems with nonlinear dynamics and time-varying delay
Author :
Weixun Li ; Zengqiang Chen ; Zhongxin Liu ; Qing Zhang
Author_Institution :
Tianjin Key Lab. of Intell. Robot., Nankai Univ., Tianjin, China
Abstract :
In this paper, the distributed robust H∞ formation control problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is considered. Two different cases of coupling topologies: fixed topology and switching topology are analyzed. Considering the multi-agent systems with disturbances and uncertainty parameters, the formation control protocols are designed and analyzed. Some sufficient conditions are given to ensure the multi-agent systems can reach and maintain the desired formation with the given H∞ performance. The simulation results illustrate the effectiveness of the main results.
Keywords :
H∞ control; distributed control; multi-agent systems; robust control; time-varying systems; topology; H∞ performance; distributed robust H∞ formation control protocols; fixed topology; multiagent systems; nonlinear dynamics; switching topology; time-varying delay; Delays; Multi-agent systems; Network topology; Nonlinear dynamical systems; Time-varying systems; Topology; Uncertainty; Multi-agent systems; nonlinear dynamics; robust formation control; time-varying delay;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896789
