Semi-Global Leader-Following Consensus of Linear Multi-Agent Systems With Input Saturation via Low Gain Feedback

This paper investigates the problem of leader-following consensus of a linear multi-agent system on a switching network. The input of each agent is subject to saturation. Low gain feedback based distributed consensus protocols are developed. It is established that, under the assumptions that each ag...

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. I, Regular papers Vol. 60; no. 7; pp. 1881 - 1889
Main Authors: Housheng Su, Chen, M. Z. Q., Lam, J., Zongli Lin
Format: Journal Article
Language:English
Published: New York IEEE 01.07.2013
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Algorithm design and analysis
Consensus
Educational institutions
Heuristic algorithms
input saturation
Laplace equations
Lead
leader-following
low gain feedback
Multi-agent systems
Switches
ISSN:1549-8328, 1558-0806
Online Access:Get full text
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Summary:This paper investigates the problem of leader-following consensus of a linear multi-agent system on a switching network. The input of each agent is subject to saturation. Low gain feedback based distributed consensus protocols are developed. It is established that, under the assumptions that each agent is asymptotically null controllable with bounded controls and that the network is connected or jointly connected, semi-global leader-following consensus of the multi-agent system can be achieved. Numerical examples are presented to illustrate this result.
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ISSN:1549-8328
1558-0806
DOI:10.1109/TCSI.2012.2226490