Robustification of controllers for the consensus problem of multi-agent systems (MASs) with actuator disturbances is analysed in this work. If a general consensus protocol is available for the disturbances-free system, a new sampled-data control law guarantees the agreement, in the sample-and-hold sense, with arbitrarily large and bounded actuator disturbance. Also the observation error is investigated. The agent drift dynamics are required to be globally Lipschitz and bounded. A numerical simulation example is finally proposed to validate the results.

Robustification of sample-and-hold controllers for the consensus problem

Cesarone, F
;
Pepe, P
2019

Abstract

Robustification of controllers for the consensus problem of multi-agent systems (MASs) with actuator disturbances is analysed in this work. If a general consensus protocol is available for the disturbances-free system, a new sampled-data control law guarantees the agreement, in the sample-and-hold sense, with arbitrarily large and bounded actuator disturbance. Also the observation error is investigated. The agent drift dynamics are required to be globally Lipschitz and bounded. A numerical simulation example is finally proposed to validate the results.
978-3-907144-00-8
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11697/167445
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