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- Title
Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties.
- Authors
Fiengo, Giovanni; Lui, Dario Giuseppe; Petrillo, Alberto; Santini, Stefania
- Abstract
This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional-integral-derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov-Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.
- Subjects
MULTIAGENT systems; LINEAR systems; LINEAR matrix inequalities; STABILITY theory; TIME-varying systems
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2019, Vol 13, Issue 2, p203
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/iet-cta.2018.5367