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Distributed disturbance observer-based nonfragile bipartite consensus of nonlinear multiagent systems with multiple
Zhen Tang1, Ziyang Zhen2, Zhengen Zhao2
1Faculty of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; ESAT-ELECTA, Katholieke Universiteit Leuven, Leuven B-3001, Belgium.
ISA Transactions
|May 26, 2024
Summary
This study develops disturbance observers for nonlinear multiagent systems with delays to achieve nonfragile bipartite consensus. The new methods ensure stability and disturbance rejection in both leaderless and leader-following systems.
Area of Science:
- Control Theory
- Networked Systems
- Robotics
Background:
- Multiagent systems (MAS) face challenges with nonlinear dynamics, time delays, and external disturbances.
- Achieving consensus (agreement) in MAS is crucial for coordinated tasks but complicated by system uncertainties and communication lags.
- Nonfragile control is essential to maintain system performance despite perturbations in observer gains.
Purpose of the Study:
- To investigate distributed disturbance observer-based nonfragile bipartite consensus in nonlinear delayed multiagent systems.
- To design control protocols that ensure consensus while compensating for external disturbances and observer gain uncertainties.
- To develop less conservative consensus criteria for complex multiagent systems.
Main Methods:
- Development of distributed nonfragile disturbance observers to estimate external disturbances and observer gain perturbations.
- Construction of distributed control protocols incorporating states, estimated disturbances, and communication delays.
- Formulation of new augmented Lyapunov-Krasovskii functions and application of advanced mathematical techniques (Bessel-Legendre integral inequality, reciprocally convex combination, free weight matrix).
Main Results:
- The proposed control protocols guarantee nonfragile bipartite consensus for nonlinear delayed multiagent systems.
- The methods effectively suppress external disturbances and tolerate uncertainties in control gain.
- New, less conservative criteria for achieving bipartite consensus were established.
Conclusions:
- The study successfully addresses nonfragile bipartite consensus in complex multiagent systems with nonlinearities and nonuniform delays.
- The developed disturbance observers and control protocols offer robust performance against disturbances and uncertainties.
- Numerical simulations validate the effectiveness of the proposed approach for both leaderless and leader-following scenarios.
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