Taghieh A, Mohammadzadeh A, Din SU, Mobayen S, Assawinchaichote W, Fekih A. H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies.
PLoS One 2022;
17:e0263017. [PMID:
35482650 PMCID:
PMC9049309 DOI:
10.1371/journal.pone.0263017]
[Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/03/2021] [Accepted: 12/27/2021] [Indexed: 12/04/2022] Open
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.
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