A Novel Decoupled Synchronous Control Method for Multiple Autonomous Unmanned Linear Systems: Bounded L 2 -Gain for Coupling Attenuation.

Featured Application: This proposed method is suitable for the cooperative consensus control of various homogeneous Multiple Autonomous Unmanned linear systems, such as an underwater robot swarm and aerial UAV swarm. This paper addresses the distributed optimal decoupling synchronous control of multiple autonomous unmanned linear systems (MAUS) subject to complex network dynamic coupling. The leader–follower mechanism based on neighborhood error dynamics is established and the network coupling term is regarded as the external disturbance to realize the decoupling cooperative control of each agent. The Bounded L₂-Gain problem for the network coupling term is formulated into a multi-player zero-sum differential game. It is shown that the solution to the multi-player zero-sum differential game requires the solution to coupled Hamilton–Jacobi (HJ) equations. The coupled HJ equations are transformed into an algebraic Riccati equation (ARE), which can be solved to obtain the Nash equilibrium of a multi-player zero-sum game. It is shown that the bounded L₂-Gain for coupling attenuation can be realized by applying the zero-sum game solution as the control protocol and the ultimately uniform boundedness (UUB) of a local neighborhood error vector under conservative conditions is proved. A simulation example is provided to show the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]