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Semi‐global leader‐following consensus of discrete‐time linear multi‐agent systems subject to actuator position and rate saturation
Author(s) -
Zhou Hongtao,
Yang Yucheng,
Su Housheng,
Zeng Wei
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3717
Subject(s) - control theory (sociology) , consensus , discrete time and continuous time , actuator , position (finance) , multi agent system , algebraic riccati equation , bounded function , saturation (graph theory) , riccati equation , computer science , mathematics , control (management) , economics , differential equation , artificial intelligence , mathematical analysis , statistics , finance , combinatorics
Summary This paper deals with the leader‐following consensus of discrete‐time multi‐agent systems subject to both position and rate saturation. Each agent is described by a discrete‐time general linear dynamic with actuator subject to position and rate saturation. A modified algebraic Riccati equation and low‐gain feedback design technique are used to construct both state feedback and output feedback control protocols. It is established that a semi‐global leader‐following consensus can be achieved when the system is asymptotically null controllable with bounded controls and a leader agent has a directed path to every follower agent. Finally, several simulations are carried out to illustrate the results. Copyright © 2016 John Wiley & Sons, Ltd.