Consensus of a heterogeneous multi-agent system with input saturation

被引：56
作者：
Geng, Hua [1 ,2 ]
Chen, Zeng-qiang [1 ,2 ,3 ]
Liu, Zhong-xin [1 ,2 ]
Zhang, Qing [3 ]
机构：
[1] Nankai Univ, Coll Comp & Control Engn, Tianjin 300071, Peoples R China
[2] Nankai Univ, Tianjin Key Lab Intelligent Robot, Tianjin 300071, Peoples R China
[3] Civil Aviat Univ China, Coll Sci, Tianjin 300300, Peoples R China
来源：
NEUROCOMPUTING | 2015年 / 166卷
基金：
中国国家自然科学基金;
关键词：
Heterogeneous multi-agent system; Consensus; Input saturation; Distributed observer; Auxiliary system; COMMUNICATION NOISES; AVERAGE CONSENSUS; SWITCHING TOPOLOGY; SAMPLED-DATA; NETWORKS; LEADER; DYNAMICS; DESIGN; AGENTS;
D O I：
10.1016/j.neucom.2015.03.044
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the consensus problem for a class of heterogeneous multi-agent systems with input saturation is investigated. The heterogeneous multi-agent system is composed of first-order agents and second-order agents. We consider that only a few first-order agents are restrained and their control input must be bounded. Firstly, a consensus control protocol under leaderless network is proposed. By applying the graph theory and LaSalle invariance principle, the protocol is proved feasible. Secondly, the consensus problem of heterogeneous multi-agent systems is discussed with a static leader and an active leader, respectively. Particularly, when the velocity of the active leader cannot be obtained in real time, a new neighbour-based consensus control protocol based on distributed observers and auxiliary systems is developed. Some sufficient conditions for consensus are established under fixed undirected connected topology. Finally, some examples were presented to illustrate the theoretical results. (C) 2015 Elsevier B.V. All rights reserved.
引用
收藏
页码：382 / 388
页数：7
相关论文
共 28 条
[1]   A Mean Square Consensus Protocol for Linear Multi-Agent Systems With Communication Noises and Fixed Topologies [J].
Cheng, Long ;
Hou, Zeng-Guang ;
Tan, Min .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2014, 59 (01) :261-267
[2]   Sampled-data based average consensus of second-order integral multi-agent systems: Switching topologies and communication noises [J].
Cheng, Long ;
Wang, Yunpeng ;
Hou, Zeng-Guang ;
Tan, Min ;
Cao, Zhiqiang .
AUTOMATICA, 2013, 49 (05) :1458-1464
[3]   Multi-Agent Based Adaptive Consensus Control for Multiple Manipulators with Kinematic Uncertainties [J].
Cheng, Long ;
Hou, Zeng-Guang ;
Tan, Min ;
Liu, Derong ;
Zou, An-Min .
PROCEEDINGS OF THE 2008 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, 2008, :189-191
[4]  
Godsil C., 2001, Algebraic graph theory
[5]   Distributed observers design for leader-following control of multi-agent networks [J].
Hong, Yiguang ;
Chen, Guanrong ;
Bushnell, Linda .
AUTOMATICA, 2008, 44 (03) :846-850
[6]   Tracking control for multi-agent consensus with an active leader and variable topology [J].
Hong, Yiguang ;
Hu, Jiangping ;
Gao, Linxin .
AUTOMATICA, 2006, 42 (07) :1177-1182
[7]   Distributed output regulation of leader-follower multi-agent systems [J].
Hong, Yiguang ;
Wang, Xiaoli ;
Jiang, Zhong-Ping .
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2013, 23 (01) :48-66
[8]  
Ji L.H., 2013, CHINESE PHYS B, V22
[9]  
Jin HS, 2009, AUTOMATICA, V45, P2659
[10]   Consensus Conditions of Multi-Agent Systems With Time-Varying Topologies and Stochastic Communication Noises [J].
Li, Tao ;
Zhang, Ji-Feng .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2010, 55 (09) :2043-2057
123