Title :
Distributed H∞ tracking control for discrete-time multi-agent systems with a high-dimensional leader
Author :
Guanghui Wen ; Ugrinovskii, V.
Author_Institution :
Sch. of Eng. & Inf. Technol., UNSW Canberra, Canberra, ACT, Australia
Abstract :
This paper considers the distributed H∞ leaderfollowing tracking problem for a class of discrete-time multiagent systems with a high-dimensional dynamic leader. It is assumed that output information about the leader is only available to designated followers, and the dynamics of the followers are subject to perturbations. To achieve distributed H∞ leader-following tracking, a new class of control protocols is proposed which is based on the feedback from the nearest neighbors as well as a distributed state estimator. Under the assumptions that dynamics of the leader are detectable and the communication topology contains a directed spanning tree, sufficient conditions are obtained that enable all followers to track the leader while achieving a desired H∞ leader-following tracking performance. Numerical simulations illustrate the effectiveness of the theoretical analysis.
Keywords :
H∞ control; discrete time systems; distributed control; multi-agent systems; state estimation; trees (mathematics); communication topology; directed spanning tree; discrete-time multi-agent systems; distributed H∞ leader following tracking control problem; distributed state estimator; high-dimensional dynamic leader; nearest neighbors; Eigenvalues and eigenfunctions; Equations; Lead; Mathematical model; Multi-agent systems; Protocols; Topology;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760202