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Observer-based consensus control of multi-agent linear parameter varying systems
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DOI：10.1016/j.jfranklin.2020.08.014.png)
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The state consensus of linear parameter-varying (LPV) agents with observer-based controller is addressed. Multi-agent systems with different LPV dynamics and same dimensions can be considered by the proposed method. The focus is on heterogeneous LPV agents with different dynamics and same dimensions, or identical dynamics but with different parameters. Design procedures are proposed to determine the coupling gains of heterogeneous LPV agents based on linear matrix inequalities. In order to reach consensus, internal dynamics are used in a way that each agent tries to track its corresponding internal dynamic and subsequently, the internal dynamics attempt to reach consensus. All these actions happen in the presence of the communication graph. Unlike the previous methods, no restrictive assumptions are considered on the LPV system matrix of each agent and less assumptions on LPV systems are needed, which make the results of the paper more general. Verifying simulations are provided in order to show the results are successful. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Keyword:
TRACKING CONTROL
DESIGN
FLOCKING
SEEKING
AGENTS
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