Cooperative Control of Multi-Agent Systems

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Robust cooperative control of networked negative-imaginary systems

Abstract

This chapter mainly focuses on the robust consensus algorithms on networked NI systems, which can be regarded as a class of special systems with negative imaginary (NI) frequency response. NI systems applications include aerospace, large space structures, multi-link robotic arms usually with co-located position sensors and force actuators [137], nano-positioning [83], etc. Toward this end, NI system theory is adopted to first derive conditions for robust output feedback consensus and then transport the proposed results to cooperative tracking to obtain a robust output feedback cooperative control framework for a wide class of LTI systems. The outline of this chapter ...