Open AccessGlobal consensus of single‐integrator agents subject to saturation constraints
Author(s) -
Wang Qingling,
Peng Cheng,
Gao Huijun,
Basin Michael
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0402
Subject(s) - integrator , control theory (sociology) , saturation (graph theory) , subject (documents) , computer science , multi agent system , consensus , control engineering , mathematics , engineering , artificial intelligence , telecommunications , control (management) , bandwidth (computing) , combinatorics , library science
This paper investigates the problem of leader‐following consensus of single‐integrator agents subject to saturation constraints. Global leader‐following consensus protocol is developed with proper choice of the relative coupling gain. Both the case of input saturation and the case of actuator saturation are considered. It is shown that global consensus of the multiagent system can be reached under the general undirected graph provided that its augmented graph contains a directed spanning tree. Numerical examples are provided to demonstrate the theoretical results.