Consensus for constrained multi‐agent systems with input saturation
Copyright policy )Consensus for constrained multi‐agent systems with input saturation
SummaryThe consensus problem for multi‐agent systems with input saturation is addressed in this paper. For agents with double‐integrator dynamics, we first propose two consensus algorithms, respectively, for the cases with and without velocity measurements. Based on graph theory, homogeneous method and the Lyapunov stability theory, it is proved that the proposed algorithms can guarantee not only the state agreement in finite time for all the agents but also the input saturation requirement. Then, the obtained results and techniques are extended to the finite‐time consensus problem for multiple mechanical systems. Numerical simulations are finally provided to verify the effectiveness of the theoretical results. Copyright © 2015 John Wiley & Sons, Ltd.
- University of Science and Technology of China China (People's Republic of)
- Harbin Institute of Technology China (People's Republic of)
- Chinese Academy of Sciences China (People's Republic of)
- Heilongjiang University China (People's Republic of)
velocity measurements, finite-time consensus, input saturation, Agent technology and artificial intelligence, Control of mechanical systems, Nonlinear systems in control theory, multi-agent systems, Decentralized systems, Euler-Lagrange dynamics
velocity measurements, finite-time consensus, input saturation, Agent technology and artificial intelligence, Control of mechanical systems, Nonlinear systems in control theory, multi-agent systems, Decentralized systems, Euler-Lagrange dynamics
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