Leader-following H∞ consensus of discrete-time nonlinear multi-agent systems based upon output feedback control

Abstract

In this paper, the leader-following [Formula: see text] consensus problem for discrete-time nonlinear multi-agent systems with delay and parameter uncertainty is investigated, with the objective of designing an output feedback protocol such that the multi-agent system achieves leader-following consensus and has a prescribed [Formula: see text] performance level. By model transforming, the leader-following consensus control problem is converted into robust [Formula: see text] control problem. Based on the Lyapunov function technology and the linear matrix inequality method, some new sufficient conditions are derived to guarantee the consensus of discrete-time nonlinear multi-agent systems. The feedback gain matrix and the optimal [Formula: see text] performance index are obtained in terms of linear matrix inequalities. Finally, numerical examples are provided to illustrate the effectiveness of the theoretical results.

Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

“…In order to reject external disturbances in multi-agent systems, H ∞ optimization problem has been classically studied from the robust control theory in different MASs works [47]. H ∞ optimization problem has been studied for high-order multi-agent systems with Lipschitz nonlinearities and switching topologies [48], Lipschitz nonlinear multi-agent systems with uncertain dynamics [49], event-based strategy in second-order multi-agent systems [50], discrete-time nonlinear multi-agent systems with missing measurements [51], delays and parameter uncertainties [52]. Nevertheless, the aforementioned works have not considered degradation in the information exchange dependent on the distances between agents.…”

The Weighted Group Consensus for a Kind of Discrete Heterogeneous Multi-Agent Systems With Time Delay and Packet Loss in Cooperative-Competitive Networks Based on Self-Adaptive Controller

“…Consensus, as the key problem of MASs, is a hot research topic. Therefore, many scholars have investigated the issue of consensus in the past years [5][6][7][8][9][10] and a lot of results have been obtained [11][12][13][14][15][16]. In [11], the consensus for a class of discrete-time heterogeneous multi-agent systems is studied.…”

Command-filtered adaptive containment control of fractional-order multi-agent systems via event-triggered mechanism

“…Multi-agent system (MAS) cooperative control has been well applied in the fields of intelligent robots, unmanned air vehicles, sensors and so on (Deng et al, 2015; Wang et al, 2021; Zheng and Mu, 2018). Leader-following or leaderless consensus control is one of the research foundations of MAS cooperative control, and many control methods have been proposed in MAS consensus control, such as sliding mode control (SMC) (Gu et al, 2020; Yang et al, 2021), linear matrix inequality (LMI) (Afaghi et al, 2021; ur Rehman et al, 2020), adaptive control (Chu and Zhang, 2016; Zhang et al, 2020), and feedback control (Liang et al, 2020; Liu and Jiang, 2013). For the MAS cooperative control of multiple leaders’ case, all followers are forced to move into the convex hull spanned by the multiple leaders, which is called the containment control.…”