Department of Electrical Engineering, Qatar University, Doha, Qatar.
Electrical Engineering Department, University of Bonab, Bonab, Iran.
PLoS One. 2022 Apr 28;17(4):e0263017. doi: 10.1371/journal.pone.0263017. eCollection 2022.
The paper investigates a leader-following scheme for nonlinear multi-agent systems (MASs). The network of agents involves time-delay, unknown leader's states, external perturbations, and switching graph topologies. Two distributed protocols including a consensus protocol and an observer are utilized to reconstruct the unavailable states of the leader in a network of agents. The H∞-based stability conditions for estimation and consensus problems are obtained in the framework of linear-matrix inequalities (LMIs) and the Lyapunov-Krasovskii approach. It is ensured that each agent achieves the leader-following agreement asymptotically. Moreover, the robustness of the control policy concerning a gain perturbation is guaranteed. Simulation results are performed to assess the suggested schemes. It is shown that the suggested approach gives a remarkable accuracy in the consensus problem and leader's states estimation in the presence of time-varying gain perturbations, time-delay, switching topology and disturbances. The H∞ and LMIs conditions are well satisfied and the error trajectories are well converged to the origin.
本文研究了非线性多智能体系统（MASs）的领导跟随方案。该代理网络涉及时滞、未知领导者状态、外部扰动和切换图拓扑。利用两个分布式协议，包括一个共识协议和一个观测器，在代理网络中重建不可用的领导者状态。基于 H∞的稳定性条件用于估计和共识问题，在线性矩阵不等式（LMIs）和 Lyapunov-Krasovskii 方法的框架内获得。可以保证每个代理都能渐近地实现领导跟随协议。此外，还保证了控制策略对增益摄动的鲁棒性。进行了仿真结果以评估所提出的方案。结果表明，在时变增益摄动、时滞、切换拓扑和干扰存在的情况下，所提出的方法在共识问题和领导者状态估计中具有很高的准确性。H∞和 LMIs 条件得到很好的满足，误差轨迹很好地收敛到原点。
