Distributed decoupling of linear multiagent systems with mixed matched and unmatched state-coupled nonlinear uncertainties
Vahid Rezaei, Margareta Stefanovic · 2017
Distributed control algorithms have been widely designed to achieve consensus in a decoupled multiagent system. However, the presence of couplings may result in an unacceptable response of each agent because of the instability or poor transient performance of the overall closed-loop multiagent system. In this article, we consider a class of multiagent systems with linear nominal dynamics subject to the state-dependent nonlinear couplings. These nonlinearities appear as mixed matched and unmatched modeling uncertainties which are quadratically upper bounded. We investigate the case when the control-layer communication topology is different from the agent-layer coupling structure. We design optimal distributed control strategies that asymptotically decouple agents, and provide a guaranteed level of transient performance for the closed-loop coupled multiagent system. We further develop a fixed-gain linear quadratic regulator-based fully distributed decoupling system without global knowledge about the agent- and control-layer graph topologies.