Consensus of One-Sided Lipschitz Multi-Agents Under Input Saturation

被引：62

作者：

Rehan, Muhammad ^{[1
]}

Ahn, Choon Ki ^{[2
]}

Chadli, Mohammed ^{[3
]}

机构：

[1] Pakistan Inst Engn & Appl Sci, Dept Elect Engn, Islamabad 56350, Pakistan

[2] Korea Univ, Sch Elect Engn, Seoul 136701, South Korea

[3] Univ Paris Saclay, IBISC Lab, F-91020 Evry, France

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2020年 / 67卷 / 04期

关键词：

Protocols; Asymptotic stability; Convergence; Topology; Circuits and systems; Synchronization; Robot sensing systems; Consensus protocol; multi-agents; relative-state feedback; one-sided Lipschitz nonlinearity; input saturation; LEADER-FOLLOWING CONSENSUS; RELATIVE OUTPUT-FEEDBACK; SYSTEMS; TRACKING;

D O I：

10.1109/TCSII.2019.2923721

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This brief investigates a new consensus control methodology for nonlinear one-sided Lipschitz (OSL) multi-agents by considering the input saturation nonlinearity for each agent. Local design approaches are followed for dealing with the constrained consensus control of nonlinear agents by using the OSL dynamics, saturation nonlinearity, and quadratic inner-boundedness property. A region of initial conditions based on the consensus error is revealed, for which the proposed control approach guarantees the consensus error's convergence to the origin. A new design condition for computation of the consensus protocol gain is developed for the leader-following consensus. Then, simulation results on synchronization of mobile OSL are provided by considering input saturation.

引用

页码：745 / 749

页数：5

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