Semiglobal Robust Consensus of General Linear MASs Subject to Input Saturation and Additive Perturbations

被引:3
|
作者
Yang, Yucheng [1 ,2 ]
Su, Housheng [1 ,2 ]
Zeng, Zhigang [1 ,2 ]
Wang, Xiaoling [3 ,4 ]
机构
[1] Huazhong Univ Sci & Technol, Sch Artificial Intelligence & Automat, Wuhan 430074, Peoples R China
[2] Huazhong Univ Sci & Technol, Key Lab Image Proc & Intelligent Control, Educ Minist China, Wuhan 430074, Peoples R China
[3] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 210023, Peoples R China
[4] Nanjing Univ Posts & Telecommun, Coll Artificial Intelligence, Nanjing 210023, Peoples R China
基金
中国国家自然科学基金;
关键词
Protocols; Output feedback; Information exchange; Additives; Laplace equations; Uncertainty; Riccati equations; Algebraic Riccati equation (ARE); consensus; H∞ control; low-gain feedback; saturation; LEADER-FOLLOWING CONSENSUS; MULTIAGENT SYSTEMS; COMPLEX NETWORKS; SYNCHRONIZATION; FLOCKING; CONNECTIVITY; AGENTS;
D O I
10.1109/TCYB.2021.3125503
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This article considers the robust consensus problem of the general linear multiagent system (MAS) subject to both heterogeneous additive stable disturbances and input saturation. Distributed low gain feedback-based dynamic output feedback control protocols are proposed, which do not need the controller interaction. Algebraic Riccati equation and unified $H_{infinity}$ controller design method are employed to design the output feedback control protocols. It is established that under the assumption that each agent is asymptotically null controllable with bounded controls, semiglobal robust consensus can always be reached under the proposed controller. Furthermore, the design method specialized for leader-following consensus is addressed, under the assumption that the Laplacian matrix is diagonalizable, one can design the control protocol only with the number of follower agents. Finally, several simulations are provided to show the effectiveness of our results.
引用
收藏
页码:3806 / 3817
页数:12
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