Синтез децентралізованого консенсусного керування для мультиагентних дискретних систем з комутаційною топологією за наявності лідера

• Дата: 2024
• Автори: Dorofieiev, Yurii, Lyubchyk, Leonid, Malko, Maxim
• Формат: Стаття
• Мова: English
• Опубліковано: The National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute" 2024
• Теми: multi-agent system; consensus control; switching topology; PID controller; invariant ellipsoids method; linear matrix inequality; semidefinite programming problem; мультиагентна система; консенсусне керування; комутаційна топологія; ПІД регулятор; метод інваріантних еліпсоїдів; лінійна матрична нерівність; задача напіввизначеного програмування
• Онлайн доступ: http://journal.iasa.kpi.ua/article/view/284844
• Назва журналу: System research and information technologies

The problem of consensus control of linear discrete-time multi-agent systems (MASs) with switching topology is considered in the presence of a leader. The goal of consensus control is to bring the states of all agents to the leader state while providing stability for local agents, as well as the MAS as a whole. In contrast to the traditional approach, which uses the concept of an extended dynamic multi-agent system model and communication topology graph Laplacian, this paper proposes a decomposition approach, which provides a separate design of local controllers. The control law is chosen in the form of distributed feedback with discrete PID controllers. The problem of local controllers’ design is reduced to a set of semidefinite programming problems using the method of invariant ellipsoids. Sufficient conditions for agents’ stabilization and global consensus condition fulfillment are obtained using the linear matrix inequality technique. The availability of information about a finite set of possible configurations between agents allows us to design local controllers offline at the design stage. A numerical example demonstrates the effectiveness of the proposed approach.