Guaranteed Cost Tracking for Uncertain Coupled Multi-agent Systems Using Consensus over a Directed Graph

TL;DR

This paper develops a control protocol for uncertain multi-agent systems with directed communication, providing guaranteed cost bounds for leader-follower tracking performance, validated through simulation.

Contribution

It introduces a novel consensus-based control method with guaranteed cost bounds for uncertain directed multi-agent systems, incorporating IQCs.

Findings

Proposed a consensus control protocol for uncertain multi-agent systems.

Derived a sufficient condition for guaranteed cost bounds.

Validated effectiveness through simulation example.

Abstract

This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on each agent's states relative to its neighbors and leader's state relative to agents which observe the leader. A sufficient condition is obtained by overbounding the cost function. Based on this sufficient condition, a computational algorithm is introduced to minimize the proposed guaranteed bound on tracking performance, which yields a suboptimal bound on the system consensus control and tracking performance. The effectiveness of the proposed method is demonstrated using a simulation example.