Open AccessObserver‐based adaptive consensus tracking for linear multi‐agent systems with input saturation
Author(s) -
Chu Hongjun,
Yuan Jingqi,
Zhang Weidong
Publication year - 2015
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.2014.1268
Subject(s) - control theory (sociology) , multi agent system , consensus , laplacian matrix , spanning tree , bounded function , computer science , graph theory , observer (physics) , directed graph , actuator , mathematics , graph , algorithm , theoretical computer science , artificial intelligence , control (management) , mathematical analysis , physics , combinatorics , quantum mechanics
This study considers the observer‐based consensus tracking problem of linear multi‐agent systems with input saturation. Existing observer‐based consensus protocols are designed based on an undirected graph, and need global information, such as the network size or eigenvalue information of the Laplacian matrix. In this study, based on only the agent dynamics and the relative outputs of neighbouring agents, an adaptive consensus protocol is proposed by assigning a time‐varying coupling weight to each node, and this protocol is independent of any global information and hence is fully distributed. Under the assumptions that each agent is asymptotically null controllable with bounded controls and detectable, and the topological graph has a directed spanning tree with the leader as the root node, semi‐global observer‐based consensus tracking of multi‐agent systems can be reached despite actuator saturation occurring. The results are applied to consensus tracking control of two‐mass‐spring systems, which are well‐known models for vibration in many mechanical systems.