Research On The H?-Consensus Control Problem For Multi-Agent Systems

In recent years,multi-agent systems(MASs)have received attention by many scholars due to their powerful application prospect.The kernel of MASs application is consensus control,i.e.,the state of every agent reaches the same by means of the distributed controller via the information from itself and its neighboring agents.However,in practical applications,there will inevitably be problems such as missing measurements,nonlinearity,measurement outliers and external noises,which pose adverse effect on the consensus control performance of MASs.Accordingly,it is of engineering significance to design a kind of H? consensus control method that can still be effective when encountering the above complex cases.In this paper,the discrete-time MASs with various network-induced phenomena are modeled,by host of Lyapunov stability theorem and linear matrix inequality(LMI)technology,the methods for designing consensus controller are presented.This paper is outlined as follows:The H?-consensus control problem is addressed for a multitude of discrete-time nonlinear MASs with missing measurements by means of the decouple method.Firstly,a random variable with Bernoulli distribution is introduced to describe the missing measurements phenomenon.Secondly,in order to mitigate the computation burden stemming from the complicated couplings among the agents,both the spectral decomposition and coordinate transformation are employed to decouple the closed-loop systems into multiple independent subsystems.By using the Lyapunov stability theory,the sufficient conditions of stochastic stability and H?-consensus performance are established.Finally,MATLAB software is used for simulation to verify the designed controller meets the design requirements.The H?-consensus control problem is handled for a host of multi-rate MASs based on the outlier-resistant observers.In order to meet the practical transmission demand as well as to cut down the communication cost,the multi-rate strategy is proposed to govern the sampling rate of each agent and its measurement output.Aiming at the outlier phenomenon in the measurement process,the observer model of outlier-resistant is designed accordingly.With the help of Lyapunov stability theory,a sufficient condition is established to ensure the desirable performance requirements.Finally,a simulation example is employed to demonstrate the effectiveness of the proposed control scheme.The application of consensus control algorithms of nonlinear MASs based on decoupling method and multi-rate MASs based on outlier-resistant observer are applied to the in Qball-X4 system of quadrotor aircraft are studied.First of all,the model of quadrotor aircraft is established.Next,according to this model,Lyapunov function is constructed and the controller satisfying both stability condition and H? disturbance attenuation constraint is obtained by using LMI.Finally,the result of the proposed control algorithm is verified by setting system parameters according to the parameter table.