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H-infinity Consensus of nonlinear multi-agent systems using dynamic output feedback controller: an LMI approach

机译：使用动态输出反馈控制器的非线性多智能体系统的H无限共识：一种LMI方法

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摘要

This paper investigates a new method for consensus in nonlinear multi-agent systems using fixed-order non-fragile dynamic output feedback controller, via an LMI approach. The proposed scheme is decentralized in the sense that each agent relies on the relative output information among the adjacent agents. The consensus-based controllers are designed to minimize the effects of nonlinear terms of the agents as well as external disturbances. Converting consensus problem to stabilization of an equivalent augmented system using proper transformations, Lyapunov stability theorem is applied to obtain unknown controller parameters in order to guarantee consensus and simultaneously acquire considered control objectives. Additionally, the proposed method is extended to the problems of multi-consensus in neighboring subnetworks. Finally, to demonstrate the effectiveness of the proposed algorithms and compare them with similar earlier researches, some numerical examples on single-link flexible manipulators, nonlinear second-order pendulums, and vehicles moving on a plane are carried out.
机译：本文通过LMI方法研究了使用固定阶非脆弱动态输出反馈控制器的非线性多智能体系统中共识的新方法。在每个代理都依赖于相邻代理之间的相对输出信息的意义上，建议的方案是分散的。基于共识的控制器旨在最大程度地减小代理的非线性项以及外部干扰的影响。使用适当的变换将共识问题转换为等效增强系统的稳定性，Lyapunov稳定性定理被用于获得未知的控制器参数，以确保达成共识并同时获得考虑的控制目标。另外，所提出的方法被扩展到相邻子网中的多共识问题。最后，为了证明所提出算法的有效性并将其与类似的早期研究进行比较，对单连杆柔性机械手，非线性二阶摆和在平面上行驶的车辆进行了数值计算。

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