Consensus Problem Of Multi-Agent Systems

In recent years, the coordination problem of multiple autonomous agents has attracted many researchers because of a broad range of disciplines including biology, physics, computer science and control engineering including cooperative control of unmanned air vehicles, flocking of birds, schooling for underwater vehicles, distributed sensor networks, attitude alignment for cluster of satellites, collective motion of particles, and distributed computations .In this paper, we consider leader-following consensus problem of a group of autonomous agents with continuous time and discrete time model. The velocity of the active leader is unknown in real time. To track the active leader, a neighbor-based local control law and a neighbor-based state-estimation rule for each autonomous agent was provided. By using the graph theory, matrix theory and the Lyapunov function method, some simple conditions are established to guarantee the consensus of the multi-agent system under fixed topology and switching topology.We investigate the H∞control for leader-following coordination with environmental disturbance, sensor noise and time-delay. The interaction topologies among the followers are switching and directed. First, we provided a neighbor-based local control law and a neighbor-based state-estimation rule for each autonomous agent. The agent dynamics is expressed in the form of a second-order model. Then, we introduce the weighed coefficients for the controlled outputs of the position and the velocity separately. Finally, by using the graph theory, matrix theory and the Lyapunov function method, we establish LMI sufficient condition to solve the H∞leader-following coordination with and without time delay. Stability analysis and numerical simulations are given in every research approach. The results have important theory significances and application value.