Interval Observer-Based Robust Coordination Control of Multi-Agent Systems Over Directed Networks

In this paper, the robust coordination control of multi-agent systems (MASs) with uncertainties is considered, where the uncertainties include the external disturbances and the measurement noises as well as the unknown initial states. Motivated by the interval observer of single-agent systems, a dis...

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. I, Regular papers Regular papers, 2021-12, Vol.68 (12), p.5145-5155
Main Authors: Wang, Xiaoling, Su, Housheng, Jiang, Guo-Ping
Format: Article
Language:English
Subjects:
Communication
Control systems
Coordination
Directed graphs
Graph theory
interval observer
Multi-agent system
Multi-agent systems
Multiagent systems
Noise measurement
Observers
Output feedback
Robust control
State estimation
Uncertainty
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Summary:In this paper, the robust coordination control of multi-agent systems (MASs) with uncertainties is considered, where the uncertainties include the external disturbances and the measurement noises as well as the unknown initial states. Motivated by the interval observer of single-agent systems, a distributed interval observer is designed for MASs communicating through a directed network which contains a directed spanning tree by using only the bounding information on the uncertainties and the output information, to implement the interval-valued state estimation on the absolute state of each agent. It also finds that the robust coordination control is a by-part of the distributed interval observer design of this kind of MASs. Moreover, a time-invariant transformation is used to perfect the distributed interval observer design. Finally, numerical simulations are proposed to verify the theoretical results.
ISSN:1549-8328
1558-0806
DOI:10.1109/TCSI.2021.3111870