Author:
Ito Shun,Ohara Kaoru,Hoshi Yoshikatsu,Oya Hidetoshi,Nagai Shunya
Abstract
This paper deals with a design problem of an adaptive gain robust controller which achieves consensus for multi-agent system (MAS) with uncertainties. In the proposed controller design approach, the relative position between the leader and followers are considered explicitly, and the proposed adaptive gain robust controller consisting of fixed gains and variable ones tuned by time-varying adjustable parameters can reduce the effect of uncertainties. In this paper, we show that sufficient conditions for the existence of the proposed adaptive gain robust controller are reduced to solvability of linear matrix inequalities (LMIs). Finally, the effectiveness of the proposed robust formation control system is verified by simple numerical simulations. A main result of this study is that the proposed adaptive gain robust controller can achieve consensus and formation control giving consideration to relative distance in spite of uncertainties.
Publisher
Taiwan Association of Engineering and Technology Innovation
Subject
Electrical and Electronic Engineering,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering
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