Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties

被引：40
作者：
Fiengo, Giovanni [1 ]
Lui, Dario Giuseppe [1 ]
Petrillo, Alberto [2 ]
Santini, Stefania [2 ]
机构：
[1] Univ Sannio, Dept Engn, I-82100 Benevento, Italy
[2] Univ Napoli Federico II, Dept Elect Engn & Informat Technol, I-80125 Naples, Italy
来源：
IET CONTROL THEORY AND APPLICATIONS | 2019年 / 13卷 / 02期
关键词：
Lyapunov methods; control system synthesis; uncertain systems; three-term control; closed loop systems; distributed control; robust control; linear systems; linear matrix inequalities; time-varying systems; delays; multi-agent systems; distributed robust output consensus; linear multiagent systems; input time-varying delays; parameter uncertainties; leader-tracking problem; parameter model uncertainties; time-varying communication delays; robust output consensus problem; delayed distributed proportional-integral-derivative control; closed-loop stability; delay-dependent robust stability conditions; robust control gains; ADAPTIVE SYNCHRONIZATION; COOPERATIVE SYSTEMS; TRACKING CONTROL; NETWORKS; STABILITY; TRANSIENT; OBSERVER; FEEDBACK; DESIGN;
D O I：
10.1049/iet-cta.2018.5367
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional-integral-derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov-Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.
引用
收藏
页码：203 / 212
页数：10
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