Robustness margin for leader-based multi-agent consensus systems in presence of parametric uncertainty

Abstract

In this paper, the use of a class of robust control technique as a tool to compute the robustness margin for a closed loop multi-agent system is discussed. Our approach is based on a leader/follower structure of the multiple robot systems. It is shown that, for multiple agent system with cyclic, chain and balanced topology of information exchange, the result is achieved. A Lyapunov based robust control design for coordination and trajectory tracking of multiple agent systems with parametric uncertainty is presented. The results are illustrated with examples and simulations.