Robust H_∞ Bipartite Consensus for Uncertain Nonlinear Multi-Agent Systems with Disturbances

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.

Keywords

robust H_∞ control / multi-agent system(MAS) / bipartite consensus / parameter uncertainty / output feedback

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Funding

National Natural Science Foundation of China(12001097)