文献类型：会议论文

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

作者：Zhang, Yaxiao[1,2];Tong, Shiwen[1,2];Chen, Yangzhou[3];Huang, Ning[4]

第一作者：张亚霄

通讯作者：Zhang, YX[1];Zhang, YX[2]

机构：[1]Beijing Union Univ, Beijing Key Lab Informat Serv Engn, Beijing 100101, Peoples R China;[2]Beijing Union Univ, Coll Robot, Beijing 100027, Peoples R China;[3]Beijing Univ Technol, Coll Artificial Intelligence & Automat, Beijing 100124, Peoples R China;[4]Beijing Spacecrafts Ltd, Beijing 100094, Peoples R China

第一机构：北京联合大学北京市信息服务工程重点实验室

通讯机构：[1]corresponding author), Beijing Union Univ, Beijing Key Lab Informat Serv Engn, Beijing 100101, Peoples R China;[2]corresponding author), Beijing Union Univ, Coll Robot, Beijing 100027, Peoples R China.|[1141739]北京联合大学机器人学院;[11417]北京联合大学;[11417103]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：39th Chinese Control Conference (CCC)

会议日期：JUL 27-29, 2020

会议地点：Shenyang, PEOPLES R CHINA

语种：英文

外文关键词：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.