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Robust synchronization of linear multi-agent system with input/output constraints

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Abstract

This paper is concerned with distributed cooperative control of linear uncertain agents with constraints on the amplitudes of inputs and outputs. We derive a condition for achieving both state synchronization and input/output constraints in the presence of norm-bounded uncertainties in the agent models. We develop a synthesis method of the robustly synchronizing state feedback gain in terms of linear matrix inequalities based on the notion of positively invariant sets. The desired feedback gain can be efficiently obtained by solving a certain convex programming whose size is independent of the number of agents.

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Authors and Affiliations

  1. Department of Electrical and Electronic Engineering, College of Science and Engineering, Ritsumeikan University, Kyoto, Japan

    Kiyotsugu Takaba

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  1. Kiyotsugu Takaba
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Correspondence to Kiyotsugu Takaba.

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Takaba, K. Robust synchronization of linear multi-agent system with input/output constraints. Artif Life Robotics 23, 577–584 (2018). https://doi.org/10.1007/s10015-018-0491-5

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  • DOI: https://doi.org/10.1007/s10015-018-0491-5

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