Distributed H ∞ Robust Control of Multiagent Systems With Uncertain Parameters: Performance-Region-Based Approach
Jingyao Wang, Guanghui Wen, Zhisheng Duan, Yifan Hu, Wangli He · IEEE Transactions on Systems Man and Cybernetics Systems · 2021
This article deals with the distributed$\mathcal {H}_{\infty }$robust control problem for linear multiagent systems perturbed by external disturbances and norm-bounded uncertain parameters over the Markovian randomly switching communication topologies. To tackle this problem, the distributed observer-based controller is proposed, which requires the relative information between neighbors and the absolute information of a subset of the nodes, and thus is intrinsically distributed. It is of great interest to see that the distributed$\mathcal {H}_{\infty }$robust control problem governed by such a controller can be converted to the stabilization with$\mathcal {H}_{\infty }$disturbance attenuation problems of some decoupled linear systems, whose dimensions equal those of a single node. Then, the$\mathcal {H}_{\infty }$stochastic robust performance region is defined to indicate the robustness of this controller against the variation of communication topologies. It is theoretically shown that the distributed observer-based controller yields bounded and connected robust performance region. Finally, the theoretical results are verified by conducting numerical simulations and experiments.