Robust Synchronisation Control for a Nonstationary Multi-Agent Plant

The structure of a multi-agent synchronization system is proposed, the dynamic processes in which are described by nonstationary equations under conditions of uncertainty and uncontrolled external disturbances. The problem is considered in a robust formulation under interval uncertainty of model parameters. During synchronisation it is required to ensure time-consistent behaviour of the network agents. To solve the set network problem, control laws are constructed in each agent on the basis of the auxiliary loop method: it is proposed to carry out parameterisation in a special way, select a signal carrying information about nonstationary components, external and parametric perturbations, and then compensate its parasitic effect on the subsystem with the help of the introduced auxiliary loop. The construction of such a synchronisation system requires information on the derivatives of the intermediate signals of the system, for which two Khalil observers are used in a special way. A numerical example of controlling a networked plant consisting of four agents is given. The performance of the obtained control system is illustrated in MATLAB Simulink. Simulation results confirmed the theoretical conclusions and showed good performance of the synchronisation system under conditions of uncertainty and nonstationarity of the network agents' models.