东华大学学报（英文版）2024，Vol.41Issue(2)：206-213,8.DOI:10.19884/j.1672-5220.202302015
具有扰动的不确定非线性多智能体系统的鲁棒H∞二分一致性
Robust H∞ Bipartite Consensus for Uncertain Nonlinear Multi-Agent Systems with Disturbances
摘要
Abstract
The robust H∞ bipartite consensus problem is studied for a class of nonlinear time-varying multi-agent systems(MASs)with parameter uncertainties and external disturbances over signed networks.Following the thought of dealing with uncertainties in robust control,the considered system is transformed into a time-invariant dynamical model with norm-bounded parameter uncertainties.The robust bipartite consensus is converted to a reduced-order H∞ control problem.Based on the Lyapunov stability theory,sufficient conditions in linear matrix inequalities(LMIs)are obtained for the robust bipartite consensus of MASs with desired H∞ performance.Moreover,the design procedure of a distributed static output feedback controller is shown.Furthermore,an application for two-degree-of-freedom(2-DOF)planar mobile robots is presented to illustrate the effectiveness of the proposed controller.关键词
鲁棒H∞控制/多智能体系统(MAS)/二分一致性/参数不确定性/输出反馈Key words
robust H∞ control/multi-agent system(MAS)/bipartite consensus/parameter uncertainty/output feedback分类
信息技术与安全科学引用本文复制引用
王雨蒙,康剑灵,杜玲珑..具有扰动的不确定非线性多智能体系统的鲁棒H∞二分一致性[J].东华大学学报（英文版）,2024,41(2):206-213,8.基金项目
National Natural Science Foundation of China(No.12001097) （No.12001097）
