Event-based H∞ consensus control of multi-agent systems with relative output feedback: The finite-horizon case

In this technical note, the H∞ consensus control problem is investigated over a finite horizon for general discrete time-varying multi-agent systems subject to energy-bounded external disturbances. A decentralized estimation-based output feedback control protocol is put forward via the relative output measurements. A novel event-based mechanism is proposed for each intelligent agent to utilize the available information in order to decide when to broadcast messages and update control input. The aim of the problem addressed is to co-design the time-varying controller and estimator parameters such that the controlled multi-agent systems achieve consensus with a disturbance attenuation level γ over a finite horizon [0,T]. A constrained recursive Riccati difference equation approach is developed to derive the sufficient conditions under which the H∞ consensus performance is guaranteed in the framework of event-based scheme. Furthermore, the desired controller and estimator parameters can be iteratively computed by resorting to the Moore-Penrose pseudo inverse. Finally, the effectiveness of the developed event-based H∞ consensus control strategy is demonstrated in the numerical simulation

Designing Fully Distributed Consensus Protocols for Linear Multi-agent Systems with Directed Graphs

This paper addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of the nonzero eigenvalues of the Laplacian matrix associated with the communication graph, which however is global information. In this paper, based on only the agent dynamics and the relative states of neighboring agents, a distributed adaptive consensus protocol is designed to achieve leader-follower consensus for any communication graph containing a directed spanning tree with the leader as the root node. The proposed adaptive protocol is independent of any global information of the communication graph and thereby is fully distributed. Extensions to the case with multiple leaders are further studied.Comment: 16 page, 3 figures. To appear in IEEE Transactions on Automatic Contro