Guaranteed Performance Leader-follower Control for Multi-agent Systems with Linear IQC-Constrained Coupling

TL;DR

This paper develops a leader-follower control strategy for multi-agent systems with linear IQC-constrained coupling, ensuring guaranteed tracking performance through a decentralized robust control approach.

Contribution

It introduces a novel control protocol and analysis method that guarantees leader tracking in multi-agent systems with IQC constraints, using a coordinate transformation and decentralized design.

Findings

Guarantees leader tracking with suboptimal performance bounds.

Provides sufficient conditions for system stability and performance.

Demonstrates effectiveness through simulation example.

Abstract

This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent's states relative its neighbors. In addition a selected set of agents uses for control their states relative the leader. Using a coordinate transformation, the consensus analysis of the multi-agent system is recast as a decentralized robust control problem for an auxiliary interconnected large scale system. Based on this interconnected large scale system, sufficient conditions are obtained which guarantee that the system tracks the leader. These conditions guarantee a suboptimal bound on the system tracking performance. The effectiveness of the proposed method is demonstrated using a simulation example.