Robust H∞ Bipartite Consensus for Uncertain Nonlinear Multi-Agent Systems with Disturbances
The robust H∞ bipartite consensus problem is studied for a class of nonlinear time-varying multi-agent systems(MASs)with parameter uncertainties and external disturbances over signed networks.Following the thought of dealing with uncertainties in robust control,the considered system is transformed into a time-invariant dynamical model with norm-bounded parameter uncertainties.The robust bipartite consensus is converted to a reduced-order H∞ control problem.Based on the Lyapunov stability theory,sufficient conditions in linear matrix inequalities(LMIs)are obtained for the robust bipartite consensus of MASs with desired H∞ performance.Moreover,the design procedure of a distributed static output feedback controller is shown.Furthermore,an application for two-degree-of-freedom(2-DOF)planar mobile robots is presented to illustrate the effectiveness of the proposed controller.
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