On global consensus of linear multi-agent systems subject to input saturation

2012 ◽  
Author(s):  
Ziyang Meng ◽  
Zhiyun Zhao ◽  
Zongli Lin
Keyword(s):  
Input Saturation ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Global Consensus ◽  
Multi Agent

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

2018 ◽  
Vol 41 (7) ◽  
pp. 1957-1964 ◽  
Author(s):  
Ming-Can Fan ◽  
Miaomiao Wang
Keyword(s):  
A Priori ◽  
Input Saturation ◽  
Second Order ◽  
Control Technique ◽  
Control Input ◽  
Multi Agent Systems ◽  
State Information ◽  
Agent Systems ◽  
Barbalat’S Lemma ◽  
Multi Agent

This paper investigates the leaderless and leader-following consensus problem for a class of second-order multi-agent systems subject to input saturation, that is, the control input is required to be a priori bounded. Moreover, the control coefficients are assumed to be unavailable, which cannot be lower or upper bounded by any known constants. Distributed consensus protocols are proposed based only on agents’ own velocity state information and relative position state information among neighbouring agents and the leader. By virtue of the adaptive control technique, algebraic graph theory and Barbalat’s lemma, it is proved that the states of the multi-agent systems can achieve consensus under the assumption that the interconnection topology is undirected and connected. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.

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