Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 28, Issue 7, Pages 2841-2852Publisher
WILEY
DOI: 10.1002/rnc.4051
Keywords
guaranteed-cost consensus; Lipschitz nonlinearity; multiagent network; Riccati equation; switching topology
Funding
- National Natural Science Foundation of China [61374054, 61503012, 61503009, 61333011, 61421063]
- Shaanxi Province Natural Science Foundation Research Projection [2016JM6014]
- Innovation Foundation of High-Tech Institute of Xi'an [2015ZZDJJ03]
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Guaranteed-cost consensus for high-order nonlinear multiagent networks with switching topologies is investigated. By constructing a time-varying nonsingular matrix with a specific structure, the whole dynamics of multiagent networks is decomposed into the consensus and disagreement parts with nonlinear terms, which is the key challenge to be dealt with. An explicit expression of the consensus dynamics, which contains the nonlinear term, is given and its initial state is determined. Furthermore, by the structure property of the time-varying nonsingular transformation matrix and the Lipschitz condition, the impacts of the nonlinear term on the disagreement dynamics are linearized, and the gain matrix of the consensus protocol is determined on the basis of the Riccati equation. Moreover, an approach to minimize the guaranteed cost is given in terms of linear matrix inequalities. Finally, the numerical simulation is shown to demonstrate the effectiveness of theoretical results.
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