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

• Main Authors: Kazuki Miyakoshi, Shun Ito, Hidetoshi Oya, Yoshikatsu Hoshi, Shunya Nagai
• Format: Article
• Language: English
• Published: Taiwan Association of Engineering and Technology Innovation 2020-04-01
• Series: Advances in Technology Innovation
• Subjects: multi-agent systems (MASs); consensus; control gain perturbations; guaranteed cost control; LMIs
• Online Access: http://ojs.imeti.org/index.php/AITI/article/view/4136

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.