Leader–Follower Bipartite Consensus of Linear Multiagent Systems Over a Signed Directed Graph
Leader–Follower Bipartite Consensus of Linear Multiagent Systems Over a Signed Directed Graph
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DOI：
10.1109/tcsii.2018.2884006
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发表时间：
2019-08
期刊：
影响因子：
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通讯作者：
Sourav K. Bhowmick;Surajit Panja
中科院分区：
文献类型：
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作者：
Sourav K. Bhowmick;Surajit Panja
在本文中，通过一个有符号有向图研究了一组线性多智能体系统的领导者-追随者二分共识，其中所有追随者都受到不匹配的未知有界干扰。为此，设计了一个以扩展状态为扰动的分布式扩展状态观察器和一个分布式相对输出反馈一致性控制律来实现双方一致性。通过适当设计缩放器耦合增益参数，以及从线性矩阵不等式获得的反馈增益和观察者增益矩阵，结果表明，如果有向图包含以领导节点为根的有向生成树，则设计的共识协议可以同时稳定二分共识误差和观察者估计误差，并且误差收敛到一个小的有界集。仿真结果验证了所提方法的有效性。
In this brief, leader–follower bipartite consensus of a group of linear multiagent systems is studied over a signed directed graph where all the followers are subjected to mismatched unknown bounded disturbances. To that end, a distributed extended state observer where the disturbances are the extended state and a distributed relative output feedback consensus control law are designed to achieve bipartite consensus. With the suitable design of scaler coupling gain parameters, and feedback gain and observer gain matrices obtained from linear matrix inequalities, it is shown that if the signed directed graph contains a directed spanning tree rooted at the leader node, then the designed consensus protocol simultaneously stabilizes both the bipartite consensus error and observer estimation error with the errors converging to a small bounded set. The simulation results verify the effectiveness of the proposed method.