Global consensus for discrete-time multi-agent systems with input saturation constraints

In this paper, we consider the global consensus problem for discrete-time multi-agent systems with input saturation constraints under fixed undirected topologies. We first give necessary conditions for achieving global consensus via a distributed protocol based on relative state measurements of the...

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Vydané v:Automatica (Oxford) Ročník 50; číslo 2; s. 499 - 506
Hlavní autori: Yang, Tao, Meng, Ziyang, Dimarogonas, Dimos V., Johansson, Karl H.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Kidlington Elsevier Ltd 01.02.2014
Elsevier
Predmet:
Agents (artificial intelligence)
Applied sciences
Automation
Computer science; control theory; systems
Computer simulation
Computer systems and distributed systems. User interface
Double integrators
Exact sciences and technology
Expert systems
Global consensus
Input saturation constraints
Mathematical models
Multi-agent systems
Saturation
Software
Topology
Global consensus
Input saturation constraints
Multi-agent systems
Transmission protocol
Input saturation
Distributed system
Topology
Modeling
Consensus
Multiagent system
Neutral system
Discrete time
Integrator
ISSN:0005-1098, 1873-2836, 1873-2836
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Shrnutí:In this paper, we consider the global consensus problem for discrete-time multi-agent systems with input saturation constraints under fixed undirected topologies. We first give necessary conditions for achieving global consensus via a distributed protocol based on relative state measurements of the agent itself and its neighboring agents. We then focus on two special cases, where the agent model is either neutrally stable or a double integrator. For the neutrally stable case, any linear protocol of a particular form, which solves the consensus problem for the case without input saturation constraints, also solves the global consensus problem for the case with input saturation constraints. For the double integrator case, we show that a subset of linear protocols, which solve the consensus problem for the case without saturation constraints, also solve the global consensus problem for the case with input saturation constraints. The results are illustrated by numerical simulations.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:0005-1098
1873-2836
1873-2836
DOI:10.1016/j.automatica.2013.11.008