Consensus Control of Multi-Agent Systems With Uncertain Communication Links

Abstract

This paper is devoted to the consensus control of a leader-follower multi-agent system (MAS) modeled by a random digraph. Due to the uncertainties in the environment, the communication links between distinct agents are represented by a time-varying probability matrix. We propose a novel robust control strategy to achieve approximate agreement among agents in the presence of an asynchronous network with uncertain communication links. The uncertainties are modeled as disturbances, and the controller is designed to debilitate them. Under the proposed controller, it is guaranteed that the global consensus error satisfies the L2-gain performance in the presence of uncertainties. The functionality of the proposed controller in reducing the impact of uncertainty is proved mathematically and verified by simulations.