Adaptive consensus tracking for linear multi-agent systems with input saturation

Abstract

This paper addresses the consensus protocol design problem for linear multi-agent systems with input saturation. Existing consensus protocols usually contain certain global information, such as network size or the spectrum of the Laplacian matrix, and this global knowledge is often unavailable to all agents. In this paper, based on only the agent dynamics and the relative states of neighbouring agents, a novel adaptive consensus protocol is designed by assigning a time-varying coupling weight to each node. This protocol has two advantages: it is independent of any global information, and hence is fully distributed; and it is implemented by actuators with input saturation constraints. By combining the low-gain feedback method and appropriate Lyapunov techniques, it is shown that our protocol can achieve the semi-global consensus tracking in a fully distributed fashion, under the mild assumptions on agent dynamics and the topology graph. The results are illustrated by numerical simulations

Second-order consensus for a class of uncertain multi-agent systems subject to input saturation

“…Abdessameud and Tayebi (2010) investigated a class of MASs without velocity measurements and with input constraints. Su et al (2013, 2014), Fan et al (2015), Zhang et al (2016) and Chu and Zhang (2016) utilized a low-gain feedback technique to semiglobally stabilize the linear saturated MASs, that is, the consensus results rely on the initial states of the MASs. In Meng et al (2013), it was proved that the neutrally stable MASs and double-integrator MASs can be globally stabilized over a fixed interconnection topology.…”

Tracking control problem in multiagent systems with Lipschitz nonlinearities and external disturbances

“…First, in contrast to distributed estimators of Olfati-Saber (2007), Zhu et al (2013), Hu and Hu (2010), Jenabzadeh et al (2017), Li et al (2016) and Chen et al (2017) and distributed controllers of Olfati-Saber (2006), Xie et al (2016), Dong et al (2017), Yu et al (2017), Gazi et al (2012), Ou et al (2012), Ou et al (2015), Yu and Liu (2017), Mondal and Su (2016), Shi et al (2016) and Chu and Zhang (2016), this paper considers both aspects of tracking control simultaneously that lead to obtain a DECA for MASLN.…”

Semi‐global leader‐following consensus of discrete‐time linear multi‐agent systems subject to actuator position and rate saturation

“…The work in extended the low‐gain feedback technique to the leader‐following consensus of continuous‐time multi‐agent systems subject to actuator saturation. Subsequently, continuous‐time multi‐agent systems with actuator saturation have been further investigated, including semi‐global containment control with intermittent communication , semi‐global coordinated tracking subject to dead zone, input uncertainties and additive disturbances , and adaptive consensus tracking problem . Until very recently, the work in uses a modified algebraic Riccati equation (MARE) to solve the coordinated tracking problem of discrete‐time multi‐agent systems.…”

“…disturbances [25], and adaptive consensus tracking problem [26]. Until very recently, the work in [27,28] uses a modified algebraic Riccati equation (MARE) to solve the coordinated tracking problem of discrete-time multi-agent systems.…”