Optimal rejection of bounded perturbations in linear leader-following consensus protocol:invariant ellipsoid method  

作　　者：Siyuan WANG Andrey POLYAKOV Min LI Gang ZHENG Driss BOUTAT 

机构地区：[1]INSA Centre Val de Loire,Bourges 18000,France [2]INRIA,Lille59000,France

出　　处：《Science China(Information Sciences)》2024年第8期20-30,共11页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundation of China (Grant No. 62073081);Project Op Medibot, FEDER Medibot, and China Scholarship Council (Grant No. 202106160022)

摘　　要：The objective of the invariant ellipsoid method is to minimize the smallest invariant and attractive set of a linear control system operating under the influence of bounded external disturbances. This study extends the application of this method to address the leader-following consensus problem. Initially, a linear control protocol is designed for the multi-agent system in the absence of disturbances. Subsequently, in the presence of bounded disturbances, by employing a similar linear control protocol, a necessary and sufficient condition is introduced to derive the optimal control parameters for the multi-agent system such that the state of followers converges to and remains in a minimal invariant ellipsoid around the state of the leader.

关 键 词：multi-agent system leader-following consensus invariant ellipsoid disturbance 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]