L2-L∞output-feedback distributed control for multi-vehicle networks

摘要

This paper investigates the L₂-L_∞-based output-feedback control for multi-vehicle formation problems. The vehicle formation model with a virtual leader is transformed into a linear multi-agent system (MAS), where the road roughness is regarded as the external disturbance. Afterwards, by applying the singular value decomposition (SVD) method, an output-feedback distributed controller subject to switching communication topologies is designed. Then the L₂-L_∞performance of closed-loop system is investigated with the help of LMI method. Numerical examples are finally provided to illustrate the effectiveness of theoretical results.