Robust H∞ formation control for multi-agent systems with nonlinear dynamics and time-varying delay

Author

Weixun Li ; Zengqiang Chen ; Zhongxin Liu ; Qing Zhang

Author_Institution

Tianjin Key Lab. of Intell. Robot., Nankai Univ., Tianjin, China

fYear

2014

fDate

28-30 July 2014

Firstpage

1144

Lastpage

1149

Abstract

In this paper, the distributed robust H_∞ formation control problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is considered. Two different cases of coupling topologies: fixed topology and switching topology are analyzed. Considering the multi-agent systems with disturbances and uncertainty parameters, the formation control protocols are designed and analyzed. Some sufficient conditions are given to ensure the multi-agent systems can reach and maintain the desired formation with the given H_∞ performance. The simulation results illustrate the effectiveness of the main results.

Keywords

H^∞ control; distributed control; multi-agent systems; robust control; time-varying systems; topology; H∞ performance; distributed robust H∞ formation control protocols; fixed topology; multiagent systems; nonlinear dynamics; switching topology; time-varying delay; Delays; Multi-agent systems; Network topology; Nonlinear dynamical systems; Time-varying systems; Topology; Uncertainty; Multi-agent systems; nonlinear dynamics; robust formation control; time-varying delay;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896789

Filename

6896789