Robust Leader-Following Output Regulation of Uncertain Multi-Agent Systems With Time-Varying Delay

摘要

In this paper,the robust analysis and design of leader-following output regulation for multi-agent systems described by general linear models is given in presence of timevarying delay and model uncertainty.To this aim,a new regulation protocol for the closed-loop multi-agent system under a directed graph is proposed.An important specification of the proposed protocol is to guarantee the leader-following output regulation for uncertain multi-agent systems with both stable and unstable agents.Since many signals can be approximated by a combination of the stationary and ramp signals,the presented results work for adequate variety of the leaders.The analysis and design conditions are presented in terms of certain matrix inequalities.The method proposed can be used for both stationary and ramp leaders.Simulation results are presented to show the effectiveness of the proposed method.