文章基本信息

标题：Distributed Consensus Tracking of Multi-Agent Systems with Time-varying Input/Output Delays and Mismatched Disturbances
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作者：Wei Jiang ; Themistoklis Charalambous
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：9
页码：787-794
DOI：10.1016/j.ifacol.2021.06.140
语种：English
出版社：Elsevier
摘要：AbstractThis paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with bounded time-varying input/output delays and mismatched disturbances under a directed communication graph containing a spanning tree. First, a part of the mismatched disturbances is transformed into the input channel as the matched disturbance, that allows the deployment of a predictive extended state observer (ESO) in order to estimate the consensus tracking error and transformed matched disturbance simultaneously. Subsequently, the ESO is used for designing a controller. The stability of the closed-loop system is guaranteed via a Lyapunov-Krasovskii functional with sufficient conditions in terms of delay-dependent linear matrix inequalities (LMIs). An additional LMI is proposed which, in conjunction with the rest of LMIs, results in a solution with a larger upper bound on delays than what would be feasible without it. The efficacy of the proposed scheme is demonstrated via simple numerical examples.
关键词：KeywordsTime-varying delayspredictive extended state observerlinear matrix inequalitiesmismatched disturbancesmulti-agent systems