Abstract
AbstractThis article addresses the distributed consensus problem for linear multi‐agent systems (MASs) with undirected connected communication topology and saturation limits on the controller input. The networked system has been modeled using a multigraph consisting of directed self‐loops. We first represent the saturated control scheme using a polytopic formulation, for appropriate consideration of the control input. Subsequently, we derive sufficient conditions for design of a robust static output feedback controller to achieve consensus of the MAS. The synthesis problem is formulated in the form of linear matrix inequalities for controller design. Next, the leader‐follower topology is considered, with a single leader, for which it is shown that the same controller design technique applies, under a multigraph with single self‐loop. Finally, we validate the theoretical results using numerical examples and further simulate the designed control method on a network of spring‐mass systems.
Published Version
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