H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies

PLoS One. 2022 Apr 28;17(4):e0263017. doi: 10.1371/journal.pone.0263017. eCollection 2022.

Abstract

The paper investigates a leader-following scheme for nonlinear multi-agent systems (MASs). The network of agents involves time-delay, unknown leader's states, external perturbations, and switching graph topologies. Two distributed protocols including a consensus protocol and an observer are utilized to reconstruct the unavailable states of the leader in a network of agents. The H∞-based stability conditions for estimation and consensus problems are obtained in the framework of linear-matrix inequalities (LMIs) and the Lyapunov-Krasovskii approach. It is ensured that each agent achieves the leader-following agreement asymptotically. Moreover, the robustness of the control policy concerning a gain perturbation is guaranteed. Simulation results are performed to assess the suggested schemes. It is shown that the suggested approach gives a remarkable accuracy in the consensus problem and leader's states estimation in the presence of time-varying gain perturbations, time-delay, switching topology and disturbances. The H∞ and LMIs conditions are well satisfied and the error trajectories are well converged to the origin.

MeSH terms

  • Computer Simulation*
  • Consensus

Grants and funding

The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.