Gain-scheduled synchronization of uncertain parameter varying systems via relative H8 consensus

Author

Ugrinovskii, V.

Author_Institution

Sch. of Eng. & Inf. Technol., Univ. of New South Wales, Canberra, ACT, Australia

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

4251

Lastpage

4256

Abstract

The paper considers a problem of consensus-based synchronization of uncertain parameter varying multi-agent systems with Lipschitz-continuous nonlinearities. The objective is to construct simultaneously consensus and observer schedules for each agent to ensure an asymptotic synchronized behaviour of all agents. A gain-scheduling algorithm is proposed which solves this problem while maintaining a specified suboptimal H_∞ level of relative disagreement between the agents. The algorithm uses interpolation to ensure the continuity of the interconnection and observer gains. It preserves the H_∞ consensus properties of the interpolants.

Keywords

H^∞ control; Lyapunov methods; continuous systems; control nonlinearities; interconnected systems; interpolation; multi-robot systems; observers; stability; suboptimal control; synchronisation; uncertain systems; Lipschitz-continuous nonlinearity; agent relative disagreement; asymptotic synchronized behaviour; consensus-based synchronization; gain scheduling algorithm; gain-scheduled synchronization; interconnection continuity; interpolation; multiagent system; observer gain; observer schedule; parameter dependent vector Lyapunov function; relative H_∞ consensus; robustness; suboptimal H_∞ level; uncertain parameter varying system; Interpolation; Linear matrix inequalities; Multiagent systems; Protocols; Robustness; Synchronization; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6160559

Filename

6160559