LMI-based static output feedback control of uncertain multi-agent systems
Daniel Rostami Alkhorshid, Eduardo Stockler Tognetti, Irinel‐Constantin Morărescu · 2025
This work presents the design of static output feedback (SOF) decentralized protocols for the leader-follower tracking problem in multi-agent systems subject to bounded heterogeneous time-varying uncertainties. We propose an approach that ensures input-to-state stability of the closed-loop system with respect to uncertainties such that the synchronization errors between the leader and followers converge to a positively invariant and attractive set. The SOF design is formulated as a convex optimization problem expressed in terms of linear matrix inequalities (LMIs), making it computationally efficient. Additionally, the proposed method relaxes the requirement for full network knowledge by employing a network matrix decomposition via variable transformation. This design framework is applicable regardless of the number of agents, making it well-suited for large-scale networks. Numerical examples illustrate the effectiveness of the proposed approach.