Dynamic output feedback control for consensus of multi-agent systems: an H∞approach

Authors:
Yang Liu;Yingmin Jia;Junping Du;Shiying Yuan
Affiliations:
Seventh Research Division, Beihang University, Beijing, P.R. China;Seventh Research Division, Beihang University, Beijing, P.R. China;Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia, School of Computer Science and Technology, Beijing University of Posts and Telecommunications, Beijing, P.R. China;School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan, P.R. China
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

This paper deals with the consensus control of a multi-agent system with state and measurement disturbances, and proposes a distributed dynamic output feedback protocol. By defining an appropriate controlled output, the consensus control problem is reformulated as an H∞ control problem. Using H∞ techniques, a sufficient condition in terms of linear matrix inequalities (LMIs) is given to ensure consensus with the prescribed H∞ performance, and the undetermined system matrix of the proposed protocol is obtained. Simulation results show that a multi-agent system under the proposed protocol with system matrix solved by the LMI (linear matrix inequality) approach possesses the desired H∞ consensus performance.