Title :
Synchronization of nonlinear multi-agent systems under measurement noises and external disturbance
Author :
Wenhui Liu ; Chunjie Yang ; Hongwei Ren ; Shuyan Ma
Author_Institution :
Dept. of Control Sci. & Eng., Zhejiang Univ., Hangzhou, China
Abstract :
This paper studies the synchronization problem with a guaranteed H∞ performance for nonlinear multiagent systems. It considers a practical situation: the measurement of relative-state is disturbed and each agent has external disturbance. We show that all agents can achieve synchronization in mean square and meanwhile maintain a desirable disturbance rejection performance by a consensus protocol. Numerical simulations are also provided and the results show highly consistent with the theoretical results.
Keywords :
H∞ control; mean square error methods; measurement uncertainty; multi-robot systems; nonlinear control systems; numerical analysis; protocols; synchronisation; consensus protocol; disturbance rejection performance; external disturbance; guaranteed H∞ performance; mean square; measurement noise; nonlinear multiagent system; numerical simulation; synchronization problem; Laplace equations; Multi-agent systems; Noise; Noise measurement; Protocols; Synchronization; Trajectory; Distributed Control; H∞ Control; Measurement Noises; Multi-agent Systems; Synchronization;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7161667
