Abstract
The objective of the invariant ellipsoid method is to minimize the smallest invariant and attrac-tive 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.
基金项目
National Natural Science Foundation of China(62073081)
Project OpMedibot,FEDER Medibot,and China Scholarship Council(202106160022)
维普
万方数据