A Novel Decoupled Synchronous Control Method for Multiple Autonomous Unmanned Linear Systems: Bounded L2-Gain for Coupling Attenuation

Abstract

This paper addresses the distributed optimal decoupling synchronous control of multiple autonomous unmanned linear systems (MAUS) subject to complex network dynamic coupling. The leader–follower mechanism based on neighborhood error dynamics is established and the network coupling term is regarded as the external disturbance to realize the decoupling cooperative control of each agent. The Bounded L2-Gain problem for the network coupling term is formulated into a multi-player zero-sum differential game. It is shown that the solution to the multi-player zero-sum differential game requires the solution to coupled Hamilton–Jacobi (HJ) equations. The coupled HJ equations are transformed into an algebraic Riccati equation (ARE), which can be solved to obtain the Nash equilibrium of a multi-player zero-sum game. It is shown that the bounded L2-Gain for coupling attenuation can be realized by applying the zero-sum game solution as the control protocol and the ultimately uniform boundedness (UUB) of a local neighborhood error vector under conservative conditions is proved. A simulation example is provided to show the effectiveness of the proposed method.

Predefined Time Synchronization of Multi-Agent Systems: A Passivity Based Analysis

“…Synchronization is a widely investigated problem in nonlinear multi-agent systems. In [20] the author addressed the synchronous control of homogeneous autonomous linear systems, as in the case of an underwater robot swarm. In [21], the author presented the autonomous organization of an aerial robot swarm.…”