H∞ State-Feedback Consensus of Linear Multi-Agent Systems
Chathura Wanigasekara, Liruo Zhang, Akshya Kumar Swain · 2022
This paper proposes a ${{\mathcal{H}}_{\infty} }$ state-feedback consensus controller for linear multi-agent systems (MASs) with N number of agents. In the proposed method, the complexity of ${{\mathcal{H}}_{\infty} }$ consensus problem of the multi-agent system is reduced by representing this problem by N number of linear subsystems. The proposed controller utilises the information of both the system and the controller state from neighbouring agents. The sufficient conditions of stability are derived using Lyapunov approach and the gains of the controller are determined using linear matrix inequalities (LMIs). The performance of the controller is illustrated through simulations using a numerical example. The results of the simulation demonstrate that the proposed ${{\mathcal{H}}_{\infty} }$ state-feedback consensus controller could effectively achieve desired performance under the effects of external disturbances.