This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional–integral–derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov–Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.

Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties

Fiengo G.;Petrillo A.;Santini S.
2019-01-01

Abstract

This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional–integral–derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov–Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.
2019
978-1-83880-424-4
Lyapunov methods
control system synthesis
uncertain systems
three-term control
closed loop systems
distributed control
robust control
linear systems
linear matrix inequalities
time-varying systems
delays
multi-agent systems
distributed robust output consensus
linear multiagent systems
input time-varying delays
parameter uncertainties
leader-tracking problem
parameter model uncertainties
time-varying communication delays
robust output consensus problem
delayed distributed proportional-integral-derivative control
closed-loop stability
delay-dependent robust stability conditions
linear matrix inequalities
robust control gains
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12070/44536
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