Synthesis of Formation Control Systems for Multi-Agent Systems under Control Gain Perturbations

  • Kazuki Miyakoshi Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
  • Shun Ito Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
  • Hidetoshi Oya Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
  • Yoshikatsu Hoshi Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
  • Shunya Nagai Department of Information Systems Creation, Kanagawa University, Kanagawa, Japan
Keywords: multi-agent systems (MASs), consensus, control gain perturbations, guaranteed cost control, LMIs

Abstract

This paper proposed a linear matrix inequality (LMI)-based design method of non-fragile guaranteed cost controllers for multi-agent systems (MASs) with leader-follower structures. In the guaranteed cost control approach, the resultant controller guarantees an upper bound on the given cost function together with asymptotical stability for the closed-loop system. The proposed non-fragile guaranteed cost control system can achieve consensus for MASs despite control gain perturbations. The goal is to develop an LMI-based sufficient condition for the existence of the proposed non-fragile guaranteed cost controller.  Moreover, a design problem of an optimal non-fragile guaranteed cost controller showe that minimizing an upper bound on the given quadratic cost function can be reduced to constrain a convex optimization problem. Finally, numerical examples were given to illustrate the effectiveness of the proposed non-fragile controller for MASs.

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Published
2020-04-01
How to Cite
[1]
K. Miyakoshi, Shun Ito, Hidetoshi Oya, Yoshikatsu Hoshi, and Shunya Nagai, “Synthesis of Formation Control Systems for Multi-Agent Systems under Control Gain Perturbations”, Adv. technol. innov., vol. 5, no. 2, pp. 112-125, Apr. 2020.
Section
Articles

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