Distributed H2 Controller Synthesis for Multi-Agent Systems with Stochastic Packet Loss

Abstract

In practical networking scenarios, communication links can rarely be considered to be deterministic, yet the influence of stochastic interconnections on multi-agent systems is neglected most of the time. To bridge this gap, this paper develops synthesis conditions for distributed state- and output-feedback controllers that guarantee an upper bound on the closed-loop H2-norm under the effect of Bernoulli distributed packet loss. Utilizing the frameworks of Markov jump linear system and decomposable systems, the synthesis problem is formulated as a linear matrix inequality problem with complexity that scales linearly with the number of agents. Finally, the closed-loop performance is assessed in simulation studies with a signal-to-interference-plus-noise ratio based packet loss model for communication between autonomous underwater vehicles.