Consensus of input-constrained periodic linear multi-agent systems by fully distributed protocols

Abstract

This paper studies consensus for input-constrained linear periodic multi-agent systems under undirected graphs. Assume that only the relative output information among agents is known, two types of system dynamics are considered. The first type of system dynamics satisfies that the open-loop characteristic multipliers are within the closed unit circle, while the second type is neutrally stable. With the first type of system dynamics, a novel linear protocol is proposed to solve the semi-global consensus problem. With the second type of system dynamics, another simple linear protocol is proposed to solve the global consensus problem. The most outstanding advantages of the proposed protocols are that the considered system dynamics are time-varying and the proposed protocols do not need the a priori global information of the network topology and can thus achieve consensus for arbitrary undirected communication graph.