Triggered finite‐time consensus of first‐order multi‐agent systems with input saturation

Abstract

Input saturation, which brings input non-linearity to systems and limits the closed-loop systems' performances severely, is an ubiquitous problem in practice. Here, triggered finitetime consensus problem of disturbed leader-follower multi-agent systems is addressed under input saturation constraint. To overcome the coupling of the non-linearity and finitetime convergence together with input saturation, non-linear triggered control protocol has been proposed, which is confirmed through a two-step stabilization procedure. First, the saturated closed-loop system is designed to be asymptotically stable, under which the systems converge into a desaturated region in finite time. Then in the second step, with the proposed control protocol, the desaturated closed-loop multi-agent systems can achieve practical finite-time consensus. In addition, to get rid of continuous communication in the monitoring of event-triggered condition, a self-triggered approach is further proposed. With rigorous analyses, practical finite-time consensus can be achieved for the overall closed-loop systems and Zeno behavior is also excluded. Simulations are carried out in detail to illustrate the theoretical results in this study.

Group consensus of multi‐agent systems with reference states via pinning control

“…During the past, much attention has been given to the analysis of consensus issues, which are about first-order MASs. [7][8][9][10][11][12] In Reference 7, the fixed-time consensus tracking for nonlinear and discontinuous first-order MASs with disturbances is studied. In Reference 8, the method based on dynamic hybrid quantizer is proposed to investigate the leader-following consensus of the first-order MASs.…”

“…Consider the first-order MAS (1) consisting of ten agents. Select the initial position x(0) = (10,23,13,30,11,20,18,25,36,12) T of the agents.…”

“…During the past, much attention has been given to the analysis of consensus issues, which are about first‐order MASs 7‐12 . In Reference 7, the fixed‐time consensus tracking for nonlinear and discontinuous first‐order MASs with disturbances is studied.…”

“…Select the initial states x(0) =(9,21,6,10,18,15,3,13,12,25) T of the agents. Under control protocol(17), choose the pinning control gain 𝛾 10 = 2.3, 𝛾 k = 0, k = 1, 2, … , 9, reference states x 𝜗 k = 13, k = 1, 6,…”

Distributed finite‐time adaptive fault‐tolerant consensus control of second‐order multi‐agent systems under deception attacks

“…A concise overview of coordination or consensus in MASs is presented in Reference 4. Recently, there has been a tremendous surge of interest in distributed consensus control of first-order, 5 second-order, 6 and high-order MASs, 7 as well as in linear MASs with unknown external disturbances 8 and nonlinear MASs with mismatched uncertainties. 9 Distributed consensus and coordination in MASs require accurate and reliable information interaction of each agent through cyber topologies.…”