A Robust Formation Control Strategy for Multi-Agent Systems with Uncertainties via Adaptive Gain Robust Controllers

Shun Ito; Kaoru Ohara; Yoshikatsu Hoshi; Hidetoshi Oya; Shunya Nagai

doi:10.46604/ijeti.2021.6825

Authors

Shun Ito Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
Kaoru Ohara 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
Hidetoshi Oya Graduate School of Integrative Science and Engineering, Tokyo City University, Tokyo, Japan
Shunya Nagai Depertment of Information Systems Creation, Kanagawa University, Kanagawa, Japan

DOI:

https://doi.org/10.46604/ijeti.2021.6825

Keywords:

multi-agent system (MAS), consensus, adaptive gain robust controller, relative distance, linear matrix inequalities (LMIs)

Abstract

This paper deals with a design problem of an adaptive gain robust controller which achieves consensus for multi-agent system (MAS) with uncertainties. In the proposed controller design approach, the relative position between the leader and followers are considered explicitly, and the proposed adaptive gain robust controller consisting of fixed gains and variable ones tuned by time-varying adjustable parameters can reduce the effect of uncertainties. In this paper, we show that sufficient conditions for the existence of the proposed adaptive gain robust controller are reduced to solvability of linear matrix inequalities (LMIs). Finally, the effectiveness of the proposed robust formation control system is verified by simple numerical simulations. A main result of this study is that the proposed adaptive gain robust controller can achieve consensus and formation control giving consideration to relative distance in spite of uncertainties.

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