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To solve the distributed robust consensus problem for the continuous time linear multi-agent systems (MASs) with model uncertainties, an approach of robust partial stability was proposed, which transformed the problem of state consensus of uncertain multi-agent systems into the problem of robust partial asymptotic stability of corresponding linear systems.Firstly, an incidence matrix was established based on a spanning tree of directed graph, which can make the structural decomposition of the original uncertain system.Secondly, based on the reduced-order system, a robust controller of quadratic stabilization was designed, and a sufficient condition guaranteeing multi-agent systems states achieve uniformly asymptotically stable was derived.Eventually, the problem of control protocol design was converted into finding the feasible solution of linear matrix inequality.It enables all agents to not only ensure that the uncertainty closed-loop system is progressively stable under the designed control protocol, but also realize the consistency of the state of the multi-agent system.Finally, the effectiveness and feasibility of the proposed approach was verified by simulation examples. © 2020, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
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