title: H2consensus control of time-delayed multi-agent systems: A frequency-domain method.
abstract: An analytical H2 controller design approach of homogeneous multi-agent systems with time delays is presented to improve consensus performance. Firstly, a closed-loop multi-input multi-output framework in frequency domain is introduced, and a consensus tracking condition is given. Secondly, the decomposition method is utilized to simplify the analysis of internal stability and H2 performance index of the whole system to a set of independent optimization problems. Finally, the H2 optimal controller can be computed from all the stabilizing controllers. The contributions of the new approach are that the design procedure is conducted analytically for arbitrary delayed multi-agent systems, and a simple quantitative tuning way is developed to trade off the nominal performance and robustness. The simulation examples show the effectiveness of the proposed control strategy.
authors.affiliation: Department of Automation, Shanghai Jiao Tong University, SEIEE Building #02-403, 800 Dongchuan Road, Shanghai 200240, PR China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, PR China. Electronic address: yefei5212012@sjtu.edu.cn.
authors.forename: Fei
authors.initials: F
authors.lastname: Ye
authors.affiliation: Department of Automation, Shanghai Jiao Tong University, SEIEE Building #02-403, 800 Dongchuan Road, Shanghai 200240, PR China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, PR China. Electronic address: wdzhang@sjtu.edu.cn.
authors.forename: Weidong
authors.initials: W
authors.lastname: Zhang
authors.affiliation: College of Information Engineering, Zhejiang University of Technology, 288 Liuhe Road, Hangzhou 310023, PR China. Electronic address: linlinou@zjut.edu.cn.
authors.forename: Linlin
authors.initials: L
authors.lastname: Ou
keywords: Consensus; Frequency domain; H(2) performance index; Multi-agent systems; Robustness; Time delays