Open AccessLeader–following consensus for multi‐agent systems subject to actuator saturation with switching topologies and time‐varying delays
Author(s) -
You Xiu,
Hua Changchun,
Peng Dan,
Guan Xinping
Publication year - 2016
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.2015.0024
Subject(s) - control theory (sociology) , algebraic graph theory , network topology , lemma (botany) , consensus , actuator , multi agent system , upper and lower bounds , saturation (graph theory) , linear system , controller (irrigation) , computer science , mathematics , control (management) , ecology , mathematical analysis , poaceae , agronomy , biology , operating system , combinatorics , artificial intelligence
This study studies the leader–following consensus problem for a class of multi‐agent systems with unknown non‐linear uncertainties. It is proved that the global consensus can be achieved by distributed feedback controller subject to actuator saturation for switching topologies and time‐varying delays. Sufficient conditions in terms of linear matrix inequalities are derived to ensure that all following agents could reach consensus asymptotically with a leader, which provide the allowable upper bound of communication delay. Stability analysis is mainly based on algebraic graph theory, non‐linear analysis and Barbalat's lemma. Numerical simulations are given to demonstrate the effectiveness of the main results.