Artificial Life and Robotics

, Volume 23, Issue 4, pp 577–584 | Cite as

Robust synchronization of linear multi-agent system with input/output constraints

  • Kiyotsugu TakabaEmail author
Original Article


This paper is concerned with distributed cooperative control of linear uncertain agents with constraints on the amplitudes of inputs and outputs. We derive a condition for achieving both state synchronization and input/output constraints in the presence of norm-bounded uncertainties in the agent models. We develop a synthesis method of the robustly synchronizing state feedback gain in terms of linear matrix inequalities based on the notion of positively invariant sets. The desired feedback gain can be efficiently obtained by solving a certain convex programming whose size is independent of the number of agents.


Synchronization Model uncertainty Input/output constraints LMI Invariant set 


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Copyright information

© ISAROB 2018

Authors and Affiliations

  1. 1.Department of Electrical and Electronic Engineering, College of Science and EngineeringRitsumeikan UniversityKyotoJapan

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