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Communication Dans Un Congrès Année : 2022

Distributed observer-based leader-following consensus control robust to external disturbance and measurement sensor noise for LTI multi-agent systems

Résumé

A robust observer-based leader-following consensus control for linear multi-agent systems subject to external disturbance and measurement noise is developed. The $H_infty$ criterion is implemented to guarantee stability and robustness of the synchronization error and estimation error through the Lyapunov approach. A set of linear matrix inequalities are obtained to compute the control and observer gain matrices. To show its effectiveness, the proposed strategy is carried out to solve the leader-following formation control consensus-based problem in a fleet of unmanned aerial vehicles under the effect of wind turbulence and measurement noise

Domaines

Automatique
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Dates et versions

hal-03884422 , version 1 (05-12-2022)

Identifiants

  • HAL Id : hal-03884422 , version 1

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Jesus A. Vazquez Trejo, Jean-Christophe Ponsart, Manuel Adam Medina, Guillermo Valencia-Palomo, Juan Antonio Vazquez Trejo. Distributed observer-based leader-following consensus control robust to external disturbance and measurement sensor noise for LTI multi-agent systems. 16th European Workshop on Advanced Control and Diagnosis, ACD 2022, Nov 2022, Nancy, France. ⟨hal-03884422⟩
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