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Semi‐global leader‐following output consensus of heterogeneous multi‐agent systems with input saturation
Author(s) -
Shi Liangren,
Li Yuanlong,
Lin Zongli
Publication year - 2018
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.4291
Subject(s) - control theory (sociology) , multi agent system , consensus , observer (physics) , state (computer science) , computer science , state observer , output feedback , control (management) , nonlinear system , artificial intelligence , algorithm , physics , quantum mechanics
Summary In this paper, we consider the semi‐global leader‐following output consensus problem for a heterogeneous multi‐agent system with input saturation over a directed network on which the leader agent is globally reachable. By using the low gain feedback technique and the output regulation theory, we construct two consensus protocols, of the state feedback type and the output feedback type. In the state feedback case, a distributed leader state observer is constructed to estimate the leader state for each follower agent. In the output feedback case, follower agents are divided into two groups, namely, the informed follower agents that have access to the information of the leader agent and the uninformed follower agents that have not. Besides a distributed leader state observer that is designed for the uninformed agents, state observers are constructed for each follower agents. Based on these observers, the consensus protocols can solve the semi‐global leader‐following output consensus problem. Simulation results illustrate the effectiveness of our proposed approaches.