Vazquez Trejo, Jesus Avelino (Centro Nacional de Investigación y Desarrollo Tecnológico), Ponsart, Jean-Christophe (Université de Lorraine, CNRS), Adam-Medina, Manuel (National Center for Research and Technological Development), Valencia-Palomo, Guillermo (Tecnológico Nacional de México, IT Hermosillo), Vazquez Trejo, Juan Antonio (University of Lorraine)

Distributed Observer-Based Leader-Following Consensus Control Robust to External Disturbance and Measurement Sensor Noise for LTI Multi-Agent Systems

Scheduled for presentation during the Regular Session "Advanced Control " (FrA1), Friday, November 18, 2022, 10:20−10:40, MAIN ROOM - E406

16th European Workshop on Advanced Control and Diagnosis, November 16-18, 2022, Nancy, France

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

A robust observer-based leader-following consensus control for linear multi-agent systems subject to external disturbance and measurement noise is developed. The $H_infty$ criterion is implemented to guarantee stability and robustness of the synchronization error and estimation error through the Lyapunov approach. A set of linear matrix inequalities are obtained to compute the control and observer gain matrices. To show its effectiveness, the proposed strategy is carried out to solve the leader-following formation control consensus-based problem in a fleet of unmanned aerial vehicles under the effect of wind turbulence and measurement noise.