Distributed Stabilization of Linear Multiagent Systems with Coupled State and Input Uncertainties

Using graph-theoretic tools, distributed control algorithms have been widely designed to manage a cooperative task among a group of individual agents. However, when agents are physically interconnected, these algorithms do not guarantee stability of the closed-loop multiagent system. In this paper, we consider a class of interconnected linear multiagent systems with state-and input-coupled modeling uncertainties. We assume that only few agents have access to their local state information, and others only provide lumped relative-state information. We propose a robust stabilization problem for an interconnected multiagent system with state-and input-coupled modeling uncertainties. By adding a virtual leader, possibly unstable, we reformulate this stabilization task to a leader-follower tracking problem. Incorporating the graph theory, we propose a linear quadratic regulator-based approach and propose a sufficient condition to systematically address this problem. Finally, we verify the feasibility of our approach through a simulation study.