This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional–integral–derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov–Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.

Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties / Fiengo, Giovanni; Lui, Dario Giuseppe; Petrillo, Alberto; Santini, Stefania. - In: IET CONTROL THEORY & APPLICATIONS. - ISSN 1751-8644. - 13:2(2019), pp. 203-212. [10.1049/iet-cta.2018.5367]

Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties

Lui, Dario Giuseppe;Petrillo, Alberto;Santini, Stefania
2019

Abstract

This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional–integral–derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov–Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.
2019
Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties / Fiengo, Giovanni; Lui, Dario Giuseppe; Petrillo, Alberto; Santini, Stefania. - In: IET CONTROL THEORY & APPLICATIONS. - ISSN 1751-8644. - 13:2(2019), pp. 203-212. [10.1049/iet-cta.2018.5367]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11588/739139
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