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
Origine : Fichiers produits par l'(les) auteur(s)