International Journal of Control, Vol.92, No.2, 356-367, 2019
H-2 input load disturbance rejection controller design for synchronised output regulation of time-delayed multi-agent systems with frequency domain method
An analytical H-2 input load disturbance rejection (ILDR) controller design approach is presented for the synchronised output regulation (SOR) of homogeneous time-delayed multi-agent systems. First, a closed-loop multi-input multi-output framework with transfer functions is introduced, and an SOR condition is given. Second, the decomposition method is utilised to simplify the analysis of internal stability and H-2 performance index of the whole system to a set of independent optimisation problems with respect to the eigenvalues of the topology matrix. Finally, for each decomposed subsystem, the H-2 optimal ILDR controller can be computed from all the stabilising controllers. By comparison with the conventional given-structured controllers, the contributions of the new approach are that the design procedure is calculated analytically for multi-agent systems with input disturbances, and a simple quantitative tuning way is developed to trade-off the nominal performance and robustness. The simulation example shows the effective ILDR capability of the proposed control strategy.
Keywords:Synchronised output regulation;multi-agent systems;time delays;H-2 performance index;frequency domain