Robust Consensus Tracking of Heterogeneous Multi-Agent Systems under Switching Topologies

TL;DR

This paper presents a robust control approach for achieving consensus tracking in heterogeneous multi-agent systems with switching topologies, using Lyapunov functions and internal model techniques to handle uncertainties.

Contribution

It introduces a novel control design that ensures robustness and consensus in heterogeneous multi-agent systems with time-varying interconnections.

Findings

Successful design of state and output feedback controllers.

Robustness against parameter uncertainties demonstrated.

Effective handling of switching topologies achieved.

Abstract

In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output feedback control laws are derived to solve this problem. The proposed design is robust by admitting some parameter uncertainties in the multi-agent system.