A Robust Observer-based Leader-Following Consensus for Multi-agent Systems

Authors

  • Jesus Avelino Vazquez Trejo Tecnológico Nacional de México - CENIDET. https://orcid.org/0000-0001-5732-4821
  • Manuel Adam Medina Tecnológico Nacional de México - CENIDET. https://orcid.org/0000-0002-8106-3673
  • Juan Antonio Vázquez Trejo Tecnológico Nacional de México - CENIDET. https://orcid.org/0000-0003-4667-4118
  • Carlos Daniel García Beltrán Tecnológico Nacional de México - CENIDET.
  • Jarniel García Morales Tecnológico Nacional de México - CENIDET.

Keywords:

Leader-following, multi-agent systems, observer-based control, robust control, formation control

Abstract

This paper presents a robust observer-based leader-following consensus control for multi-agent systems subject to external disturbances.  The stability and robustness to external disturbances are addressed through the Lyapunov approach and an optimal H_∞ criterion. It is shown that the design conditions for a correct convergence of the estimated states and consensus control can be expressed in a set of linear matrix inequalities whose solution allows computing the observer and controller gain matrices. In order to show the effectiveness of the proposed strategy, numerical examples are carried out to solve the formation control problem of a fleet of unmanned aerial vehicles (UAVs) under the effect of wind turbulence.

 

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Author Biographies

Jesus Avelino Vazquez Trejo, Tecnológico Nacional de México - CENIDET.

Jesús Avelino Vázquez Trejo. He received the Professional Diploma degree in Electromechanical engineering with the speciality in Automation at the Technological Institute of Zacatepec (August 2012 – December 2017, Zacatepec, Morelos, México), and M.Sc. degree in electronics engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Mexico, in 2020. He is pursuing a Ph.D. degree in CENIDET. His current research interest includes formation control for multi-agent systems.

Manuel Adam Medina, Tecnológico Nacional de México - CENIDET.

Manuel Adam Medina was born in Minatitlán, Mexico. He received the Professional Diploma degree in electronic engineering of intrumentation from the Minatitlán Institute of Technology, Minatitlán, in 1991, the M.Sc. degree in electronics engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Mexico, in 1995, and the Ph.D. degree in engineering from Henri Poincaré University, Nancy, France, in 2004. He is currently a Professor with the Department of Electronic Engineering, CENIDET. He is involved in fault tolerant control and fault diagnosis systems.

Juan Antonio Vázquez Trejo, Tecnológico Nacional de México - CENIDET.

Juan Antonio Vázquez Trejo earned his Computer Systems Engineering bachelor’s degree at the Technological Institute of Zacatepec (August 2009 – December 2013, Zacatepec, Morelos, México). He received the master degree in Automatic control at the National Research and Technological Development (CENIDET) in August 2017. Nowdays, he is pursuing a Ph.D. degree in automatic control CENIDET. His current research interest includes multi-agent systems, fault tolerant control, consensus control and quadratic boundedness.

Carlos Daniel García Beltrán, Tecnológico Nacional de México - CENIDET.

Carlos Daniel García-Beltrán received his professional diploma in Electronics Engineering from the San Luis Potosí University, México, in 1992, and M.Sc. degree in Electronic Engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Morelos, México, in 1997, and a Ph.D. degree in Engineering from the INPG, France, in 2004. He is currently professor of department of electronic engineering at the CENIDET. His research areas are intelligent control, fault diagnosis, fault tolerant control and embedded control systems.

Jarniel García Morales, Tecnológico Nacional de México - CENIDET.

Jarniel García Morales was born in Morelos. He received the professional diploma degree in Electromechanical Engineering from at the Technological Institute of Zacatepec, Morelos, México in 2010, and M.Sc. degree in electronics engineering from the Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET), Cuernavaca, Morelos, Mexico, in 2013, and a Ph.D. degree in electronics engineering from the CENIDET, Cuernavaca, Morelos, Mexico, in 2017. He is currently a Professor with the Department of Electronic Engineering, CENIDET. His research areas are control of electronic power systems, efficient energy control, efficiency

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Published

2021-04-26

How to Cite

Vazquez Trejo, J. A., Adam Medina, M. ., Vázquez Trejo, J. A., García Beltrán, C. D., & García Morales, J. (2021). A Robust Observer-based Leader-Following Consensus for Multi-agent Systems. IEEE Latin America Transactions, 19(11), 1949–1958. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/4843

Issue

Vol. 19 No. 11 (2021): Ordinary Issue

Section

Articles