Semiglobal Observer-Based Leader-Following Consensus With Input Saturation

Author

Housheng Su ; Chen, Michael Z. Q. ; Xiaofan Wang ; Lam, James

Author_Institution

Key Lab. of Image Process. & Intell. Control of the Minist. of Educ. of China, Huazhong Univ. of Sci. & Technol., Wuhan, China

Volume

61

Issue

6

fYear

2014

fDate

Jun-14

Firstpage

2842

Lastpage

2850

Abstract

This paper studies the observer-based leader-following consensus of a linear multiagent system on switching networks, in which the input of each agent is subject to saturation. Based on a low-gain output feedback method, distributed consensus protocols are developed. Under the assumptions that the networks are connected or jointly connected and that each agent is asymptotically null controllable with bounded controls and detectable, semiglobal observer-based leader-following consensus of the multiagent system can be reached on switching networks. A numerical example is presented to illustrate the theoretical results.

Keywords

control system synthesis; graph theory; multi-agent systems; observers; switching networks; distributed consensus protocols; graph theory; input saturation; linear multiagent system; semiglobal observer based leader following consensus; switching networks; Eigenvalues and eigenfunctions; Laplace equations; Lead; Lyapunov methods; Multi-agent systems; Output feedback; Switches; Consensus; input saturation; low-gain feedback; multiagent systems; state observer;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2013.2275976

Filename

6573374