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Proportional Integral Observer-based Consensus Control of Discrete-time Multi-agent Systems

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  • Control Theory and Applications
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Abstract

The multi-agent consensus control is widely used in industrial application, such as industrial robot, satellite attitude control, etc. Therefore, this paper studies the consensus control problem of multi-agent systems. For discrete-time Lipschitz nonlinear multi-agent systems with unknown inputs, a consensus control algorithm based on proportional integral observer is proposed. Firstly, a proportional integral observer is designed for each subsystem to estimate the system states and unknown input signals simultaneously. Then, a consensus control protocol based on the system state estimation is designed, and H∞ technique is used to effectively suppress the unknown input signals. Furthermore, the gain matrices of the observer and consensus control are obtained by solving a linear matrix inequality. Finally, two simulation examples show the correctness and feasibility of the proposed method.

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Author information

Authors and Affiliations

  1. School of Electronic and Information Engineering, Suzhou University of Science and Technology, No. 99 Xuefu Road, Suzhou, China

    Renyang You, Mingzhu Tang, Shenghui Guo & Guozeng Cui

Authors
  1. Renyang You
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  2. Mingzhu Tang
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  3. Shenghui Guo
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  4. Guozeng Cui
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Corresponding author

Correspondence to Shenghui Guo.

Additional information

This work was supported by the National Natural Science Foundation of China (61703296, 61703059, 61751304), Postgraduate Research & Practice Innovation Program of Jiangsu Province (KYCX21_3022) and Research Foundation of Suzhou University of Science and Technology (XKZ2018004).

Renyang You is currently pursing a master’s degree in computer science and technology from Suzhou University of Science and Technology, China, in 2019. His research interests include robust control, multi-agent systems, and observer design.

Mingzhu Tang is currently pursing a master’s degree in computer science and technology from Suzhou University of Science and Technology, China, in 2020. Her research interests include robust control, cyber physical systems, and observer design.

Shenghui Guo received his Ph.D. degree in control theory and control engineering from Tongji University, China, in 2016. He had ever been postdoctoral fellow with the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China. He is currently an associate professor with the College of Electronics and Information Engineering, Suzhou University of Science and Technology. His research interests include observer design, model-based fault detection, and fault-tolerant control.

Guozeng Cui received his B.Sc. degree in applied mathematics from the Shandong University of Technology, Zibo, China, in 2009, and an M.Sc. degree in applied mathematics from Qufu Normal University, Qufu, China, in 2012, and a Ph.D. degree in control science and engineering from the Nanjing University of Science and Technology, Nanjing, China, in 2016. He is currently a Lecturer with the School of Electronic and Information Engineering, Suzhou University of Science and Technology. His current research interests include adaptive control, intelligent control for nonlinear systems, and multi-agent systems.

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You, R., Tang, M., Guo, S. et al. Proportional Integral Observer-based Consensus Control of Discrete-time Multi-agent Systems. Int. J. Control Autom. Syst. 20, 1461–1472 (2022). https://doi.org/10.1007/s12555-021-0263-1

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