Distributed Interval Observer-based Consensus Control for Discrete-time Multi-agent Systems
Hongrun Wu, Jun Huang, Changjie Li, Thach Ngoc Dinh, Hao Tang · 2024
Designing consensus protocols is a critical research concern for multi-agent systems within directed communication topologies. However, due to inaccessible system states and uncertain disturbances, finding a suitable observer to reconstruct the state and mitigate perturbation effects is challenging. This paper introduces a distributed interval observer scheme for multi-agent systems. The estimation accuracy is improved by combining the robust observer design with the spaced hull design at the cost of increasing the computation. At the same time, the corresponding consensus control protocol is developed. By using $H_{\infty}$ consensus control, the multi-agent system can show higher precision in consensus control. The sufficient condition for the system stabilization can be achieved by solving the linear matrix inequalities. Finally, the conclusion is validated through a comparative example.