Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance

This paper investigates design of robust hierarchical control for linear multi-agent systems (MAS) subject to polytopic uncertainty and external disturbance. Each agent of MAS is described by a homogeneous linear time-invariant dynamic model. The control structure has two layers, namely, an upper la...

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Autores principales:	Tuynh Van Pham, Dinh Hoa Nguyen, David Banjerdpongchai
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Multi-agent systems polytopic uncertainty disturbance attenuation hierarchical control parameter-dependent bilinear matrix inequality Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/2eb816136bff4a1ea4e1078a099c6014
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spelling	oai:doaj.org-article:2eb816136bff4a1ea4e1078a099c60142021-11-17T00:00:52ZIterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance2169-353610.1109/ACCESS.2021.3126424https://doaj.org/article/2eb816136bff4a1ea4e1078a099c60142021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9606722/https://doaj.org/toc/2169-3536This paper investigates design of robust hierarchical control for linear multi-agent systems (MAS) subject to polytopic uncertainty and external disturbance. Each agent of MAS is described by a homogeneous linear time-invariant dynamic model. The control structure has two layers, namely, an upper layer and a lower layer. Local actions are executed in the lower layer. Each agent shares information through an undirected graph with neighboring agents in the upper layer to achieve the global stabilization and disturbance attenuation. We employ a parameter-dependent Lyapunov function to formulate the robust control design of the local and global feedback in terms of bilinear matrix inequalities and incorporate constraints on disturbance attenuation. We propose the sufficient condition, where system matrices and Lyapunov variables are separated. The parameterization of the controller depends on a common slack variable instead of the Lyapunov matrices. We develop an iterative approach based on the coordinated optimization to solve sub-problems over linear matrix inequalities. Numerical examples are provided to demonstrate the effectiveness of the proposed robust control designs. It is shown that our proposed robust control designs outperform other robust control designs in terms of achievable disturbance attenuation and maximum admissible uncertainty bound.Tuynh Van PhamDinh Hoa NguyenDavid BanjerdpongchaiIEEEarticleMulti-agent systemspolytopic uncertaintydisturbance attenuationhierarchical controlparameter-dependent bilinear matrix inequalityElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 151221-151234 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Multi-agent systems polytopic uncertainty disturbance attenuation hierarchical control parameter-dependent bilinear matrix inequality Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Multi-agent systems polytopic uncertainty disturbance attenuation hierarchical control parameter-dependent bilinear matrix inequality Electrical engineering. Electronics. Nuclear engineering TK1-9971 Tuynh Van Pham Dinh Hoa Nguyen David Banjerdpongchai Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance
description	This paper investigates design of robust hierarchical control for linear multi-agent systems (MAS) subject to polytopic uncertainty and external disturbance. Each agent of MAS is described by a homogeneous linear time-invariant dynamic model. The control structure has two layers, namely, an upper layer and a lower layer. Local actions are executed in the lower layer. Each agent shares information through an undirected graph with neighboring agents in the upper layer to achieve the global stabilization and disturbance attenuation. We employ a parameter-dependent Lyapunov function to formulate the robust control design of the local and global feedback in terms of bilinear matrix inequalities and incorporate constraints on disturbance attenuation. We propose the sufficient condition, where system matrices and Lyapunov variables are separated. The parameterization of the controller depends on a common slack variable instead of the Lyapunov matrices. We develop an iterative approach based on the coordinated optimization to solve sub-problems over linear matrix inequalities. Numerical examples are provided to demonstrate the effectiveness of the proposed robust control designs. It is shown that our proposed robust control designs outperform other robust control designs in terms of achievable disturbance attenuation and maximum admissible uncertainty bound.
format	article
author	Tuynh Van Pham Dinh Hoa Nguyen David Banjerdpongchai
author_facet	Tuynh Van Pham Dinh Hoa Nguyen David Banjerdpongchai
author_sort	Tuynh Van Pham
title	Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance
title_short	Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance
title_full	Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance
title_fullStr	Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance
title_full_unstemmed	Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance
title_sort	iterative lmi approach to robust hierarchical control of homogenous linear multi-agent systems subject to polytopic uncertainty and external disturbance
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/2eb816136bff4a1ea4e1078a099c6014
work_keys_str_mv	AT tuynhvanpham iterativelmiapproachtorobusthierarchicalcontrolofhomogenouslinearmultiagentsystemssubjecttopolytopicuncertaintyandexternaldisturbance AT dinhhoanguyen iterativelmiapproachtorobusthierarchicalcontrolofhomogenouslinearmultiagentsystemssubjecttopolytopicuncertaintyandexternaldisturbance AT davidbanjerdpongchai iterativelmiapproachtorobusthierarchicalcontrolofhomogenouslinearmultiagentsystemssubjecttopolytopicuncertaintyandexternaldisturbance
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Iterative LMI Approach to Robust Hierarchical Control of Homogenous Linear Multi-Agent Systems Subject to Polytopic Uncertainty and External Disturbance

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