Dynamic Relative Output-Feedback Consensus for Multi-Agent Systems Subject to Actuator Saturation

Kaide Huang,Chengzhi Yuan

doi:10.1109/access.2020.3003213

Abstract

This paper deals with the problem of leaderless consensus control for a class of non-introspective linear multi-agent systems (MASs) subject to input saturation and external disturbances. A novel dynamic relative output-feedback saturated consensus control protocol is proposed, which utilizes not only relative system outputs but also relative controller states from neighboring agents for distributed feedback control. With this new controller structure, the associated control synthesis conditions that guarantee optimal disturbance attenuation performance are fully characterized as linear matrix inequalities (LMIs) using a complete form of Lyapunov function matrix, which can be solved efficiently via convex optimization. The proposed approach unifies the designs for both continuous-time and discrete-time MASs. Two application examples are used to demonstrate effectiveness and usefulness of the proposed results.

Highlights

Multi-agent system (MAS), as a typical class of large-scale interconnected systems, has been one of the most thriving research topics in the controls community
Studies of consensus control of MASs were focused on relatively simple system settings with single/double integrator agent dynamics, which have been gradually extended to general higher-order linear/nonlinear MASs
We consider a MAS consisting of Na dynamical agents subject to actuator saturations and unknown external disturbances, whose dynamics can be described by

Summary

Introduction

Multi-agent system (MAS), as a typical class of large-scale interconnected systems, has been one of the most thriving research topics in the controls community. It arises in many practical engineering applications, such as swarm robots coordination [1], multiple aircrafts formation flight [2], autonomous vehicles platooning [3], and cooperative regulation of smart power grids [4], etc. Aiming to bridge the gap between theoretical development of MAS control algorithms and their realistic engineering applications, recent research interests have been steering to consideration of various physical constraints, such as uncertain agent dynamics [14], [40], network-induced communication delays [13], switching topologies [15], and actuator saturations [16], [41], etc

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