Distributed Control of Multi-Agent Systems With Uncertain Communication Links

This paper proposes a distributed control strategy to address the consensus problem in a leader-follower multi-agent system (MAS) with uncertain communication links in the presence of disturbances. In most real-world applications of MASs, the node-to-node communication links are subject to uncertainties. Hence, a random graph is used to model the communication topology of such a MAS. To achieve consensus in a MAS with an asymmetric communication structure, we propose an adaptive controller that debilitates the effect of uncertainties in the system dynamics. Moreover, the feedback gain in the distributed controller is designed based on the H-8 criteria to guarantee the modified L-2-gain performance of the system in the presence of disturbances. The control performance is evaluated by simulation.