Robustness Margin for Leader-based Multi-agent Consensus Systems in Presence of Parametric Uncertainty
Gerardo Romero, J. A. Guerrero, Lic Reyes, Rogelio Lozano, Daniel Olivares · 2018
In this paper, the use of a class of robust control technique as a tool to compute the robustness margin for a closed loop multi-agent system is discussed. Our approach is based on a leader/follower structure of the multiple robot systems. It is shown that, for multiple agent system with cyclic, chain and balanced topology of information exchange, the result is achieved. A Lyapunov based robust control design for coordination and trajectory tracking of multiple agent systems with parametric uncertainty is presented. The results are illustrated with examples and simulations.