Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Discrete-Time State Feedback Algorithm for State Consensus of Uncertain Homogeneous Multi-Agent Systems

불확실성을 포함한 다 개체 시스템의 상태 일치를 위한 이산 시간 출력 궤환 협조 제어 알고리즘

  • Yoon, Moon-Chae (School of Electrical Engineering, Korea University) ;
  • Kim, Jung-Su (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Back, Juhoon (School of Robotics, Kwangwoon University)
  • 윤문채 (고려대학교 전기전자전파공학과) ;
  • 김정수 (서울과학기술대학교 전기정보공학과) ;
  • 백주훈 (광운대학교 로봇학부)
  • Received : 2013.02.20
  • Accepted : 2013.03.15
  • Published : 2013.05.01
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Abstract

This paper presents a consensus algorithm for uMAS (uncertain Multi-Agent Systems). Unlike previous results in which only nominal models for agents are considered, it is assumed that the uncertain agent model belongs to a known polytope set. In the middle of deriving the proposed algorithm, a convex set is found which includes all uncertainties in the problem using convexity of the polytope set. This set plays an important role in designing the consensus algorithm for uMAS. Based on the set, a consensus condition for uMAS is proposed and the corresponding consensus design problem is solved using LMI (Linear Matrix Inequality). Simulation result shows that the proposed consensus algorithm successfully leads to consensus of the state of uMAS.

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References

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