Skip to main content
SpringerLink
Log in

Distributed H∞ consensus control for nonlinear multi-agent systems under switching topologies via relative output feedback

  • Original Article
  • Published:
Neural Computing and Applications Aims and scope Submit manuscript

Abstract

For a class of nonlinear multi-agent systems under switching topologies with disturbances, we propose a distributed H∞ consensus control protocol based on relative output feedback and utilize an iterative algorithm for solving nonlinear matrix inequality in this paper. Firstly, a consensus control protocol via relative output feedback is designed. Then, an iterative algorithm is utilized to calculate nonlinear matrix inequality. By this, the output feedback gain is designed but not chosen, which increases the design degree of freedom and meanwhile H∞ performance index γ is obtained. Finally, the proposed theory is applied to multiple simple-pendulums network systems driven by DC motors, and simulation results show the effectiveness of the designed consensus control protocol.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. Olfati-Saber R, Murray RM (2004) Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans Autom Control 49:1520–1533

    Article  MathSciNet  MATH  Google Scholar 

  2. Ren W, Beard RW, Atkins EM (2005) A survey of consensus problems in multi-agent coordination. IEEE American Control Conference, In, pp 1859–1864

    Google Scholar 

  3. You KY, Xie LH (2011) Coordination of discrete-time multi-agent systems via relative output feedback. International Journal of Robust and Nonlinear Control 21:1587–1605

    Article  MathSciNet  MATH  Google Scholar 

  4. Liu Y, Jia YM (2011) Robust H ∞ Consensus control of uncertain multi-agent systems with time delays. International Journal of Control, Automation, and Systems 9:1086–1094

    Article  Google Scholar 

  5. Miao GY, Wang Z, Ma Q, Lu JW (2013) Consensus of second-order multi-agent systems with nonlinear dynamics and time delays. Neural Computing & Applications 23:761–767

    Article  Google Scholar 

  6. Yang SS, Liao XF, Liu YB, Chen X (2016) Consensus of delayed multi-agent dynamical systems with stochastic perturbation via impulsive approach. Neural Computing & Applications. doi:10.1007/s00521–016–2393-6

    Google Scholar 

  7. Jiang YL, Liu JC, Wang SQ (2014) A consensus-based multi-agent approach for estimation in robust fault detection. ISA Transactions 53:1562–1568

    Article  Google Scholar 

  8. Jiang YL, Liu JC, Wang SQ (2014) Consensus tracking algorithm via observer-based distributed output feedback for multi-agent systems under switching topology. Circuits Systems & Signal Process 33:3037–3052

    Article  MathSciNet  MATH  Google Scholar 

  9. Liu Y, Jia YM (2010) H ∞ Consensus control of multi-agent systems with switching topology: a dynamic output feedback protocol. International Journal of Control 83:527–537.

  10. Gao LX, Tong CF, Wang LY (2014) H ∞ dynamic output feedback consensus control for discrete-time multi-agent systems with switching topology. Arabian Journal for Science and Engineering 39:1477–1487

    Article  MathSciNet  MATH  Google Scholar 

  11. Lee DH, Joo YH, Kim SK (2016) A proposition of iterative LMI method for static output feedback control of continuous-time LTI systems. International Journal of Control, Automation and Systems 14:1–7

    Article  Google Scholar 

  12. Belozyorov VY (2016) New solution method of linear static output feedback design problem for linear control systems. Linear Algebra and its Applications 504:204–227

    Article  MathSciNet  MATH  Google Scholar 

  13. Zhang DG, Wang XG (2012) Static output feedback control of networked control systems with packet dropout. International Journal of Systems Science 43:665–672

    Article  MathSciNet  MATH  Google Scholar 

  14. Yu WW, Ren W, Zheng W, Chen G (2013) Distributed control gains design for consensus in multi-agent systems with second-order non-linear dynamics. Automatica 49:2107–2115

    Article  MathSciNet  MATH  Google Scholar 

  15. Lin P, Jia YM, Li L (2008) `Distributed robust H ∞ consensus control in directed networks of agents with time-delay. Systems & Control Letters 57:643–653

    Article  MathSciNet  MATH  Google Scholar 

  16. Wen GH, Duan ZS, Ren W, Chen GR (2013) Distributed consensus of multi-agent systems with general linear node dynamics and intermittent communications. International Journal of Robust and Nonlinear Control 24:2438–2457

    Article  MathSciNet  MATH  Google Scholar 

  17. Olfati-Saber R, Fax JA, Murray RM (2007) Consensus and cooperation in networked multi-agent systems. In: Proceedings of the IEEE 95:215–233

    MATH  Google Scholar 

  18. Yu L (2002) Robust Control-LMI Method. Qinghua University Press, Beijing

    Google Scholar 

  19. Cao YY, Lam J, Sun YX (1998) Static Output Feedback Stabilization: An ILMI Approach. Automatica 34:1641–1645

    Article  MATH  Google Scholar 

  20. Jiang YL, Wang SQ, Li YC, Liu DR (2016) Distributed consensus tracking control for multiple simple-pendulum network systems, In: 35th Chinese Control Conference (CCC), 7556–7560.

Download references

Author information

Authors and Affiliations

  1. College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, 130012, China

    Yulian Jiang, Hongquan Wang & Shenquan Wang

  2. The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China

    Shenquan Wang

Authors
  1. Yulian Jiang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Hongquan Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Shenquan Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yulian Jiang.

Ethics declarations

Funding

This study was funded by the Natural Science Foundation of China (grant number 61503045, 61403044) and the Science and Technology of Education Department of Jilin Province (grant number 2016337).

Conflict of interest

The authors declare that they have no conflict of interest.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Jiang, Y., Wang, H. & Wang, S. Distributed H∞ consensus control for nonlinear multi-agent systems under switching topologies via relative output feedback. Neural Comput & Applic 31, 1–9 (2019). https://doi.org/10.1007/s00521-017-2975-y

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00521-017-2975-y

Keywords

Search

Navigation