Inverse Optimal Adaptive Consensus Control of Multi-Agent Systems Based on H∞ Control Criterion
Yoshihiko Miyasato · SICE Journal of Control Measurement and System Integration · 2015
Design methods of inverse optimal adaptive consensus control of multi-agent systems composed of the first-order and the second-order regression models are presented based on H∞ control criterion. The proposed control schemes are deduced as solutions of certain H∞ control problems, where estimation errors of tuning parameters and imperfect knowledge of leaders are regarded as external disturbances to processes. The resulting control systems are shown to be robust to uncertain system parameters and the desirable consensus tracking is achieved asymptotically or approximately via adaptation schemes and L2-gain design parameters.