H∞-based control of multi-agent systems: Time-delayed signals, unknown leader states and switching graph topologies
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Author list: Taghieh, Amin; Mohammadzadeh, Ardashir;ud Din, Sami; Mobayen, Saleh; Assawinchaichote, Wudhichai; Fekih, Afef
Publisher: PLOS
Publication year: 2022
Volume number: 17
Issue number: 4
ISSN: 19326203
Languages: English-Great Britain (EN-GB)
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Abstract
The paper investigates a leader-following scheme for nonlinear multi-agent systems (MASs). The network of agents involves time-delay, unknown leader's states, external perturbations, and switching graph topologies. Two distributed protocols including a consensus protocol and an observer are utilized to reconstruct the unavailable states of the leader in a network of agents. The H∞-based stability conditions for estimation and consensus problems are obtained in the framework of linear-matrix inequalities (LMIs) and the Lyapunov-Krasovskii approach. It is ensured that each agent achieves the leader-following agreement asymptotically. Moreover, the robustness of the control policy concerning a gain perturbation is guaranteed. Simulation results are performed to assess the suggested schemes. It is shown that the suggested approach gives a remarkable accuracy in the consensus problem and leader's states estimation in the presence of time-varying gain perturbations, time-delay, switching topology and disturbances. The H∞ and LMIs conditions are well satisfied and the error trajectories are well converged to the origin. © 2022 Public Library of Science. All rights reserved.
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