Abstract
Collaborative consensus control of multiagent systems has become an important research topic in the field of artificial intelligence in recent years. This paper deals with the couple-group consensus for the first order discrete-time systems with input saturation constraints. Compared to most previous studies, this article focuses on the control input constraints phenomenon in couple-group consensus problem. Based on the relationship between competition and cooperation, a new negotiation protocol is designed to achieve couple-group consensus. Furthermore, combining graph theory with Lyapunov theorem, the control gain condition is obtained. Finally, the results of numeric modeling show that the method is correctness and effectiveness.
Highlights
In recent years, with the extensively application of multiagent systems, the coordination control has been widely discussed [1]–[6]
The sophistication of the consensus problems essentially depend on the consensus control of the multiagent systems, such as formation control, tracking control, attitude alignment, etc
In order to study the consensus problems of the multiagent systems, the interactions among agents can be regarded as a network topology
Summary
With the extensively application of multiagent systems, the coordination control has been widely discussed [1]–[6]. The Semi-global consensus tracking problem for linear multiagent systems with actuator saturation was studied in [21]–[23] by using low-gain feedback. Using low-gain and high-gain feedback methods, the semi-global coordinated tracking of linear multiagent systems with input constraints was investigated in [29]. The conditions of achieving global consensus for the first order discrete-time system and second system with input saturation constraints were given in [30], but there wasn’t competitive-cooperative relationship among agents. 1) Based on previous studies, this paper considers the competition-cooperation relationship among agents and considers input constrains for first order discrete-time multiagent systems.
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