Title :
Mixed H∞ and passive consensus of second-order multi-agent systems with time-varying transmission delays
Author :
Chao Ma ; Qingshuang Zeng ; Shun Wang
Author_Institution :
Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol., Harbin, China
Abstract :
In this paper, the mixed H∞ and passive consensus problem of second-order multi-agent systems in the presence of external disturbances is investigated under fixed and switching undirected communication topologies. In particular, the effect of time-varying transmission delays among the agents is taken into account without restriction on the derivative of the delay functions. Based on H∞ theory and passivity analysis, sufficient conditions are derived such that all the agents can reach consensus with the desired performance. Finally, a numerical example is provided to show the effectiveness of the theoretical results.
Keywords :
H∞ control; delays; multi-agent systems; multi-robot systems; time-varying systems; H∞ consensus problem; external disturbances; fixed undirected communication topologies; passive consensus problem; passivity analysis; second-order multiagent systems; sufficient conditions; switching undirected communication topologies; time-varying transmission delays; Delays; Eigenvalues and eigenfunctions; Multi-agent systems; Switches; Symmetric matrices; Time-varying systems; Topology; Disturbances; Fixed and Switching Topologies; Mixed H∞ and Passive Performance; Multi-agent Systems; Time-varying Delays;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053433
