$$H_{\infty }$$ H ∞ Consensus of nonlinear multi-agent systems using dynamic output feedback controller: an LMI approach

Abstract

This paper investigates a new method for consensus in a group of nonlinear complex multi-agent systems using fixed-order non-fragile dynamic output feedback controller, via an LMI approach. The proposed scheme is decentralized in the sense that each agent relies on the relative output information among the adjacent agents. The consensus based controllers are designed to minimize the effects of nonlinear terms of the agents as well as external disturbances. Converting consensus problem to stabilization of an equivalent augmented system using proper transformations, Lyapunov stability theorem is applied to obtain unknown controller parameters in order to guarantee consensus and simultaneously acquire considered control objectives. Finally, to demonstrate the effectiveness of the proposed algorithm and compare with similar earlier researches, a numerical example on a multi-agent system consisting of single link flexible manipulators is carried out.

Stability and Stabilization of Fractional‐Order Systems with Different Derivative Orders: An LMI Approach

“…The utilization of linear matrix inequality (LMI)-based methods has been increased by the evolution of efficient numerical procedures to solve convex optimization problems [20][21][22][23][24][25][26] defined by LMI conditions. Appropriate LMI conditions for asymptotic stability analysis of FO-LTI systems with fractional orders in and intervals are presented in [27] and [28], respectively.…”

Robust distributed consensus tracking control for high‐order uncertain nonlinear MASs with directed topologies

“…Example In the second example, we develop robust distributed controllers to construct a group of holonomic vehicles moving on a plane in [54]. The directed network topology is given in Figure 5.…”

Robust motion planning for a heat rod process

“…Interpreting the fractional derivative operator as a Mikusiński's operator as in [6], a system theoretic approach has been developed by [13] where the field of 1 The main properties of R [D γ ] are recalled in [37].…”

“…This motion planning is generally carried out in open-loop and robust control may be achieved with a suitable control feedback. Several industrial applications have emerged in control theory, such as H ∞ state feedback control of a bridge seismic response [11], H ∞ consensus method for a network of nonlinear multiagent system [1], trajectory tracking control of cooperative multiple mobile cranes [33], pollutant reduction of a turbocharged diesel engine [19] and so on. Here, a CRONE controller [30] is used to guarantee stability degree, path tracking and disturbance rejection.…”