Abstract
In this chapter, the finite-horizon \(H_{\infty }\)consensus control problem is investigated for a class of time-varying multi-agent systems subject to the Random Access protocol scheduling. The communication topology of the multi-agent network is described by a directed graph. For the purpose of curbing data collision, the Random Access protocol is utilized to schedule the signal transmissions between each agent and the neighboring ones. A sequence of random variables is employed to describe the scheduling effects of all the agents. The purpose of the problem addressed in this chapter is to design a cooperative controller for each agent such that, for all the Random Access protocol scheduling behaviors, the \(H_{\infty }\)consensus performance is achieved over a given finite horizon for the closed-loop multi-agent system. By using the mapping technology and the Hadamard product, the closed-loop system is described by a time-varying system with a stochastic parameter matrix. The required time-varying controller parameters are calculated by solving two coupled backward recursive difference equations.
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Zou, L., Wang, Z., Liang, J. (2022). Finite-Horizon Consensus Control of Multi-agent Systems with Random Access Protocol. In: Communication-Protocol-Based Filtering and Control of Networked Systems. Studies in Systems, Decision and Control, vol 430. Springer, Cham. https://doi.org/10.1007/978-3-030-97512-8_10
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DOI: https://doi.org/10.1007/978-3-030-97512-8_10
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