Robust Distributed Consensus Control of Uncertain Multiagents Interacted by Eigenvalue-Bounded Topologies

The uncertainties arising from the plant model and topologies have been a major challenge in multiagent consensus control. This article presents a distributed robust control method for an uncertain multiagent system with eigenvalue-bounded topologies. The heterogeneity of node dynamics is described as the uncertainties of a linear model with a common certain part. The linear transformation method is adopted to decompose topologically coupled controllers. Then, the linear matrix inequalities (LMIs) technique is used to numerically solve the distributed robust controller problem. It is proved that such a controller is robust stable under the condition that the topology is eigenvalue-bounded. The effectiveness of this method is validated by the simulation of a group of unmanned ground vehicles compared with the LQR controller.