论文标题
分布式最佳控制，具有恢复的鲁棒性，用于不确定的网络系统：一种互补设计方法
Distributed Optimal Control with Recovered Robustness for Uncertain Network Systems: A Complementary Design Approach
论文作者
论文摘要
本文考虑了线性多机构系统的分布式稳定的次优共识控制问题，均具有H2和H_INFTY性能要求。提出了一种新颖的两步互补设计方法。第一步，为标称多代理系统设计了分布式控制法，以通过规定的H2性能达成共识。在第二步中，额外的控制输入，具体取决于一些精心选择的剩余信号，表明建模不匹配，旨在通过根据干扰或不确定性提供H_INFTY要求来补充H2性能。拟议的互补设计方法为设计提供了额外的自由度，具有两个单独的控制，分别可以处理H2的性能和共识的鲁棒性。因此，它不需要做出太多的权衡，并且可以预期的是比权衡的设计要少得多，例如混合的H2/H_INFTY控制方法。此外，当不存在外部干扰或不确定性时，这种补充方法将恢复可实现的H2性能。理论结果的有效性和补充方法的优势通过数值模拟验证。
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first step, a distributed control law is designed for the nominal multi-agent system to achieve consensus with a prescribed H2 performance. In the second step, an extra control input, depending on some carefully chosen residual signals indicating the modeling mismatch, is designed to complement the H2 performance by providing robustness guarantee in terms of H_infty requirement with respect to disturbances or uncertainties. The proposed complementary design approach provides an additional degree of freedom for design, having two separate controls to deal with the H2 performance and the robustness of consensus, respectively. Thereby, it does not need to make much trade-off, and can be expected to be much less conservative than the trade-off design such as the mixed H2/H_infty control method. Besides, this complementary approach will recover the achievable H2 performance when external disturbances or uncertainties do not exist. The effectiveness of the theoretical results and the advantages of the complementary approach are validated via numerical simulations.
