Distributed Consensus Tracking of Multi-Agent Systems with Time-varying Input/Output Delays and Mismatched Disturbances
Loading...
Access rights
openAccess
publishedVersion
URL
Journal Title
Journal ISSN
Volume Title
A4 Artikkeli konferenssijulkaisussa
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
Authors
Date
2021-07-16
Major/Subject
Mcode
Degree programme
Language
en
Pages
8
Series
IFAC-PapersOnLine, Volume 54, issue 9, pp. 787-794
Abstract
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with bounded time-varying input/output delays and mismatched disturbances under a directed communication graph containing a spanning tree. First, a part of the mismatched disturbances is transformed into the input channel as the matched disturbance, that allows the deployment of a predictive extended state observer (ESO) in order to estimate the consensus tracking error and transformed matched disturbance simultaneously. Subsequently, the ESO is used for designing a controller. The stability of the closed-loop system is guaranteed via a Lyapunov-Krasovskii functional with sufficient conditions in terms of delay-dependent linear matrix inequalities (LMIs). An additional LMI is proposed which, in conjunction with the rest of LMIs, results in a solution with a larger upper bound on delays than what would be feasible without it. The efficacy of the proposed scheme is demonstrated via simple numerical examples.Description
Publisher Copyright: Copyright © 2021 The Authors. This is an open access article under the CC BY-NC-ND license.
Keywords
Linear matrix inequalities, Mismatched disturbances, Multi-agent systems, Predictive extended state observer, Time-varying delays
Other note
Citation
Jiang, W & Charalambous, T 2021, ' Distributed Consensus Tracking of Multi-Agent Systems with Time-varying Input/Output Delays and Mismatched Disturbances ', IFAC-PapersOnLine, vol. 54, no. 9, pp. 787-794 . https://doi.org/10.1016/j.ifacol.2021.06.140