Distributed H_∞ Control for Leader-Following Coordination with Switching Topology

Abstract:

In this paper, we consider multi-agent H_∞ consensus control problems with external disturbance under the undirected switching topologies. The agent dynamics is expressed in the form of a second-order model and the control laws are neighbor-based feedback laws. By using the model transformation, the multi-agent H_∞ consensus control problem is converted into H∞ control problem for a switching linear system with special structure. A sufficient condition is established under which all agents can reach consensus with the desired H_∞ performance in switching topology case by constructing a parameter-dependent common Lyapunov function. Moreover, we give an explicit estimation expression to estimate H∞ performance index. Finally, a numerical example is provided to illustrate the effectiveness of our results.

• Periodical: Applied Mechanics and Materials (Volumes 135-136)
• Pages: 455-463
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.135-136.455
• Online since: October 2011
• Authors: Yan Ping Luo, Li Xin Gao
• Keywords: Common Lyapunov Function, Consensus, H_∞ Control, Multi-Agent System (MAS), Switching Topology

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