Robust Consensus of Linear Multi-Agent Systems under Input Constraints or Uncertainties

TL;DR

This paper develops a new method for designing robust consensus controllers for linear multi-agent systems with input constraints or uncertainties, using LMI-based conditions for both undirected and directed communication topologies.

Contribution

It introduces a novel LMI-based framework for robust consensus control of linear MASs under input constraints or uncertainties, applicable to various network structures.

Findings

Effective consensus control achieved under input constraints.

LMI conditions ensure robust stability and convergence.

Numerical example validates the theoretical approach.

Abstract

This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or uncertainties is reformulated as a network of Lur'e systems. Next, two scenarios of communication topology are considered, namely undirected and directed cyclic structures. In each case, a sufficient condition for consensus and the design of consensus controller gain are derived from solutions of a distributed LMI convex problem. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.