Consenso Robusto de Sistemas Multiagentes Lineares em Redes de Comunicação de Topologia Incerta

Natalia O. Borges; Bruno M. C. Silva; Eduardo S. Tognetti; João Y. Ishihara

doi:10.20906/CBA2022/3740

Natalia O. Borges Departamento de Engenharia Elétrica, Universidade de Brasília, DF
Bruno M. C. Silva Departamento de Engenharia Elétrica, Universidade de Brasília, DF
Eduardo S. Tognetti Departamento de Engenharia Elétrica, Universidade de Brasília, DF
João Y. Ishihara Departamento de Engenharia Elétrica, Universidade de Brasília, DF

DOI: https://doi.org/10.20906/CBA2022/3740

Keywords: Multi-Agent Systems, Consensus, Linear Matrix Inequalities, Uncertainties, ∞ cost

Abstract

This work proposes linear matrix inequalities (LMI) conditions for the consensus of homogeneous multi-agent systems subject to disturbances and uncertainties in the topology of communication between agents. The consensus problem is rewritten as a stabilization problem, and a full-order dynamic output feedback controller is designed to guarantee the stability with ∞ performance criterion. The results are illustrated by numerical simulations that show the effectiveness of the proposed method.