文献类型：会议论文

中文题名：Robust Guaranteed Cost Formation Control for Multi-agent Systems with Uncertain Topologies

作者：Yaxiao Zhang;Shiwen Tong;Yangzhou Chen;Ning Huang

第一作者：张亚霄

机构：[1]Beijing Key Laboratory of Information Service Engineering, Beijing Union University;[2]College of Robotics, Beijing Union University;[3]College of Artificial Intelligence and Automation, Beijing University of Technology

第一机构：北京联合大学北京市信息服务工程重点实验室

会议论文集：第三十九届中国控制会议论文集（5）

会议日期：20200727

会议地点：中国辽宁沈阳

语种：英文

中文关键词：Robust Guaranteed Cost;Multi-agent Systems;Formation;Uncertain Topologies

摘要：This paper investigates a robust guaranteed cost formation problem for a class of continuous-time linear high-order multi-agent systems with uncertain communication topology which is modeled by directed graph. Firstly, the robust guaranteed cost formation problem is transformed into a robust guaranteed cost control problem of an auxiliary uncertain system by a linear transformation. Secondly, a sufficient condition for the robust guaranteed cost formation control problem is presented in terms of linear matrix inequality techniques, and an upper bound of the guaranteed cost function is given. Finally, a numerical example is shown to demonstrate the effectiveness of the theoretical results.