Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2023
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866911811087892480 |
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| author | Romero, Jose Guadalupe Navarro-Alarcon, David |
| author_facet | Romero, Jose Guadalupe Navarro-Alarcon, David |
| contents | This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the consensus and synchronization problems when the systems are under the effects of matched and unmatched disturbances. In both problems, we present simple continuous controllers, whose integral actions allow us to handle the disturbances. A rigorous stability analysis based on Lyapunov's direct method for unperturbed networked systems is presented. To assess the performance of our result, a representative simulation study is presented. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_00262 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs Romero, Jose Guadalupe Navarro-Alarcon, David Systems and Control Multiagent Systems Robotics This work presents a new method to design consensus controllers for perturbed double integrator systems whose interconnection is described by a directed graph containing a rooted spanning tree. We propose new robust controllers to solve the consensus and synchronization problems when the systems are under the effects of matched and unmatched disturbances. In both problems, we present simple continuous controllers, whose integral actions allow us to handle the disturbances. A rigorous stability analysis based on Lyapunov's direct method for unperturbed networked systems is presented. To assess the performance of our result, a representative simulation study is presented. |
| title | Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs |
| topic | Systems and Control Multiagent Systems Robotics |
| url | https://arxiv.org/abs/2310.00262 |