动态输出反馈协议下二阶多智能体系统H_∞一致性

H∞Consensus Problem of Second-order Multi-agent Systemsvia the Dynamic Output Feedback Protocol

研究了受外部干扰的二阶多智能体切换网络的一致性控制问题,并通过使用智能体邻居的相对位置信息提出了一种分布式动态输出反馈协议.通过定义受控输出和对原模型进行两步变换,把多智能体系统一致性控制问题转化成H∞控制问题,进而对具有切换拓扑结构的无向网络找出使多智能体系统达到H∞一致性的充分条件.仿真算例验证了所提方法的有效性.

This paper is devoted to the consensus control problem for switching networks of second-order multi-agents with external disturbance, and a distributed dynamic output feedback protocol is proposed by using the neighbors＇ measured outputs. By defining a controlled output and conducting a model transformation in two steps, the consensus problem of the multl-agent systems is transformed into a normal H∞ problem. The sufficient conditions are derived to ensure the H∞ performance for networks with switching topology. A simulation example is provided to validate the proposed method.