DocumentCode :
70276
Title :
Author :
Saboori, Iman ; Khorasani, K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, QC, Canada
Volume :
59
Issue :
11
fYear :
2014
fDate :
Nov. 2014
Firstpage :
3104
Lastpage :
3109
Abstract :
The consensus problems with H∞ and weighted H∞ bounds for a homogeneous team of linear time-invariant (LTI) multi-agent systems with a switching topology and directed communication network graph are studied in this technical note. Sufficient conditions to design distributed controllers are proposed based on state feedback corresponding to bounded L2 gain and rms bounded disturbances. Based on the solution of an algebraic Riccati equation that circumvents the need to solve linear matrix inequalities (LMIs), a design methodology is proposed to properly select the controller gains. The stability properties of the proposed controllers are then investigated based on Lyapunov analysis. The effectiveness of our proposed consensus algorithms are then illustrated by performing simulations for diving consensus of a team of unmanned underwater vehicles (UUVs).
Keywords :
H∞ control; Lyapunov methods; Riccati equations; control system synthesis; directed graphs; distributed control; linear matrix inequalities; multi-agent systems; stability; state feedback; telecommunication network topology; H∞ consensus achievement; L2 gain; LMI; LTI multiagent systems; Lyapunov analysis; algebraic Riccati equation; directed communication network graph; directed topology networks; distributed controllers; linear matrix inequalities; linear time-invariant multiagent systems; rms bounded disturbances; stability; state feedback; switching topology networks; unmanned underwater vehicles; weighted H∞ bounds; Algorithm design and analysis; Eigenvalues and eigenfunctions; Equations; Multi-agent systems; Network topology; Switches; Topology; $H_{infty}$ performance; Average dwell time; consensus control; multi-agent systems; switching topology;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/TAC.2014.2358071
Filename :
6898853
Link To Document :
