Distributed robust consensus of linear multi-agent systems with switching topologies

• Main Author: Zixi Li
• Format: Article
• Language: English
• Published: Wiley 2015-01-01
• Series: The Journal of Engineering
• Subjects: multi-agent systems; linear systems; linear matrix inequalities; topology; numerical simulations; multistep robust consensus protocol design procedure; model transformation approach; relative output measurements; distributed observer-type robust consensus protocol; switching communication topology; fixed communication topology; transmission channels; external disturbances; general linear node dynamics; switching topologies; linear multiagent systems; distributed robust consensus
• Online Access: http://digital-library.theiet.org/content/journals/10.1049/joe.2014.0288

This paper studies the consensus problem of multi-agent systems consisting of general linear node dynamics with external disturbances in transmission channels under fixed and switching communication topologies. A distributed observer-type robust consensus protocol based on relative output measurements is proposed. A model transformation approach is introduced to address the robust consensus of multi-agent systems. Some conditions for robust consensus are given in terms of linear matrix inequalities for fixed and jointly connected communication topologies. A multi-step robust consensus protocol design procedure is further presented. Finally, the effectiveness of the theoretical results is demonstrated through numerical simulations.