Title :
Gain-scheduled synchronization of uncertain parameter varying systems via relative H8 consensus
Author_Institution :
Sch. of Eng. & Inf. Technol., Univ. of New South Wales, Canberra, ACT, Australia
Abstract :
The paper considers a problem of consensus-based synchronization of uncertain parameter varying multi-agent systems with Lipschitz-continuous nonlinearities. The objective is to construct simultaneously consensus and observer schedules for each agent to ensure an asymptotic synchronized behaviour of all agents. A gain-scheduling algorithm is proposed which solves this problem while maintaining a specified suboptimal H∞ level of relative disagreement between the agents. The algorithm uses interpolation to ensure the continuity of the interconnection and observer gains. It preserves the H∞ consensus properties of the interpolants.
Keywords :
H∞ control; Lyapunov methods; continuous systems; control nonlinearities; interconnected systems; interpolation; multi-robot systems; observers; stability; suboptimal control; synchronisation; uncertain systems; Lipschitz-continuous nonlinearity; agent relative disagreement; asymptotic synchronized behaviour; consensus-based synchronization; gain scheduling algorithm; gain-scheduled synchronization; interconnection continuity; interpolation; multiagent system; observer gain; observer schedule; parameter dependent vector Lyapunov function; relative H∞ consensus; robustness; suboptimal H∞ level; uncertain parameter varying system; Interpolation; Linear matrix inequalities; Multiagent systems; Protocols; Robustness; Synchronization; Vectors;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160559
