Distributed H_∞ PID Feedback for Improving Consensus Performance of Arbitrary-delayed Multi-agent System

作     者：Lin-Lin Ou Jun-Jie Chen Dong-Mei Zhang Lin-Zhang Wei-Dong Zhang 

作者机构：Department of AutomationZhejiang University of Technology Department of AutomationShanghai Jiaotong University 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2014年第11卷第2期

页      面：189-196页

核心收录：

学科分类：08[工学] 081104[工学-模式识别与智能系统] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0701[理学-数学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by National Natural Science Foundationof China(Nos.61273116 and 61074039) National Natural ScienceFund for Distinguished Young Scholar of China(No.61026016) Natural Science Foundation of Zhejiang Province(No.Y1111012) 

主　　题：Multi agent system,proportional integral differential(PID) controller,H∞ performance index,parametric space,consensus. 

摘      要：The H∞ proportional-integral-differential(PID) feedback for arbitrary-order delayed multi-agent system is investigated to improve the system performance. The closed-loop multi-input multi-output(MIMO) control framework with the distributed PID controller is firstly described for the multi-agent system in a unified way. Then, by using the matrix theory, the prescribed H∞performance criterion of the multi-agent system is shown to be equivalent to several independent H∞ performance constraints of the single-input single-output(SISO) subsystem with respect to the eigenvalues of the Laplacian matrix. Subsequently, for each subsystem,the set of the PID controllers satisfying the required H∞ performance constraint is analytically characterized based on the extended Hermite-Biehler theorem. Finally, the three-dimensional set of the decentralized H∞ PID control parameters is derived by finding the intersection of the H∞ PID regions for all the decomposed subsystems. The simulation results reveal the effectiveness of the proposed method.