Title :
Robust consensus for uncertain multi-agent systems on directed communication topologies
Author :
Zhang, Wenlin ; Wang, Zheng ; Guo, Yi
Author_Institution :
Electr. & Comput. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA
Abstract :
In this paper, we study the distributed robust consensus for uncertain double integrators on the directed communication topologies. Using the backstepping technique, we construct a control Lyapunov function for the nominal double integrator consensus design. In the presence of model uncertainties, we develop a distributed robust redesign under the assumption that the uncertainty in each agent dynamics is bounded and satisfies the matching condition. Due to the flexibility of backstepping, the proposed redesign is applicable without relative velocity measurement. Simulation results show the effectiveness of the proposed robust control.
Keywords :
Lyapunov methods; multi-agent systems; robust control; topology; velocity measurement; Lyapunov function; agent dynamics; backstepping technique; directed communication topologies; distributed robust consensus; distributed robust redesign; matching condition; nominal double integrator consensus design; relative velocity measurement; robust control; uncertain double integrators; uncertain multiagent systems; Eigenvalues and eigenfunctions; Laplace equations; Lyapunov method; Robustness; Topology; Uncertainty; Upper bound;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717448