Distributed robust output consensus for linear multi-agent systems with input time-varying delays and parameter uncertainties. (English) Zbl 1434.93004
Summary: This study addresses the leader-tracking problem for linear multi-agent systems in the presence of both parameter model uncertainties and time-varying communication delays. To solve the robust output consensus problem, a delayed distributed proportional-integral-derivative control is proposed and the overall closed-loop stability is proven by exploiting the Lyapunov-Krasovskii theory. Delay-dependent robust stability conditions are given via linear matrix inequalities which allow the proper tuning of robust control gains. The effectiveness of the theoretical derivation is confirmed through a numerical analysis in the practical application domain of cooperative driving for connected vehicles.
MSC:
| 93A14 | Decentralized systems |
| 93D21 | Adaptive or robust stabilization |
| 34D06 | Synchronization of solutions to ordinary differential equations |
| 34K20 | Stability theory of functional-differential equations |
| 93C05 | Linear systems in control theory |
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