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

Kazuki Miyakoshi; Shun Ito; Hidetoshi Oya; Yoshikatsu Hoshi; Shunya Nagai

doi:10.46604/aiti.2020.4136

Authors

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

DOI:

https://doi.org/10.46604/aiti.2020.4136

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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