Optimal Consensus for Uncertain High-order Multi-agent Systems by Output Feedback

TL;DR

This paper develops a distributed output feedback control method to achieve optimal consensus in high-order multi-agent systems with parametric uncertainties, ensuring robustness and effectiveness under mild connectivity conditions.

Contribution

It introduces a novel dynamic compensator and a distributed output feedback integral controller for uncertain high-order multi-agent systems, enhancing robustness and decentralization.

Findings

Successfully estimates the optimal consensus point.

Achieves robust output consensus under mild connectivity.

Provides a constructive control design for uncertain systems.

Abstract

The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and aim at distributed robust controllers by measurement output feedback. We first develop a dynamic compensator to estimate the expected optimal consensus point and convert the problem into several decentralized robust tracking problems. Then, by combining the integral control technique and dirty derivative observer technique, we constructively propose a distributed output feedback integral controller to solve this problem under a mild graph connectivity condition.