Global Consensus of High-Order Discrete-Time Multi-Agent Systems with Communication Delay and Saturation Constraint.

Chong Tan,Yin Cui,Yanjiang Li

doi:10.3390/s22031007

Abstract

This article aimed to study the global consensus problem of high-order multi-agent systems with a saturation constraint and communication delay. Among them, all agents are described by discrete-time systems. Firstly, in order to compensate for the communication delay, a networked predictive control method is adopted and a predictive-based control protocol is designed. Secondly, for the neutrally stable agent model, leaderless and leader-following situations are considered and it is proven that, under a fixed communication topology, adopting the prediction-based control protocol makes the multi-agent systems with saturation constraint and communication delay achieve a global consensus. Finally, the results are illustrated via numerical simulation.

Highlights

In the natural environment, there are many animal clustering problems, for example, the parade of fish, the collective migration of birds, and the coordinated hunting of ants
In order to compensate for the constant communication delay ω caused by exchanging information between agents, the following control protocol is designed based on the networked predictive control method in this article: ui(k) ui(k|k − ω)
The results show that, in the case of a saturation constraint, the discrete-time neutral stable multi-agent systems (MASs) can achieve global consensus

Summary

Introduction

There are many animal clustering problems, for example, the parade of fish, the collective migration of birds, and the coordinated hunting of ants. A finite-time control protocol is used to the solve the consensus issue in [14], aiming at the second-order MASs with saturated constraint, the leader-following and leaderless situations are considered, respectively. Wang et al studied the saturation constraint and communication constraint in [18], and designed the output feedback and state feedback algorithm based on a low-gain method to achieve semi-global consensus. Due to their practical applications, agents with different dynamic performances are sometimes required to cooperate, so some scholars have begun to explore heterogeneous or nonlinear multiagent systems. The feasibility of the theory is verified by numerical simulation

Preliminaries and Problem Formulation

Neutrally Stable Agent Model

Leader-Following Case

Simulation

Conclusions