| Autor: |
Juan Antonio Vazquez Trejo, Manuel Adam-Medina, Carlos Daniel Garcia-Beltran, Gerardo Vicente Guerrero Ramirez, Betty Yolanda Lopez Zapata, Eduardo-Mael Sanchez-Coronado, Didier Theilliol |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
IEEE Access, Vol 9, Pp 104940-104949 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2021.3098303 |
| Popis: |
In this paper, a robust leader-following consensus protocol for multi-agent systems (MASs) subject to faults in the information exchange and disturbance is presented. The problem under consideration is to guarantee the convergence of the agent trajectories to a leader agent when all the agent followers are under faults in the information exchange as smooth time-varying delays and disturbances. The main contribution in this paper is the design of a robust leader-following control through the Lyapunov approach and an optimal $\mathscr {H}_{\infty }$ criterion such that all agents follow a virtual leader agent despite faults in the information exchange and disturbances. Linear matrix inequalities (LMIs)-based conditions are obtained whose solution allows computing the robust controller gain. In order to show the effectiveness of the proposed approach, numerical examples are carried out comparing a state-of-the-art approach and the proposed strategy in a fleet of unmanned aerial vehicles (UAVs) subject to wind turbulence which are shown to achieve the formation control. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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