Abstract
This paper studies the consensus problem for heterogeneous multi-agent systems with output saturations. We consider the agents to have different dynamics and assume that the agents are neutrally stable and that the communication graph is undirected. The goal of this paper is to achieve the consensus for leaderless and leader-following cases. To solve this problem, we propose the observer-based distributed consensus algorithms, which consists of three parts: the nonlinear observer, the reference generator, and the regulator. Then, we analyze the consensus based on the Lasalle’s Invariance Principle and the input-to-state stability. Finally, we provide numerical examples to demonstrate the validity of the proposed algorithms.
Highlights
In the past decade, the consensus problem for multi-agent systems has received a lot of attention since it has wide applications such as formation control [1], and distributed filtering [2], cooperative control [3]
We investigate the asymptotic stability of the error dynamics
The output consensus problems for heterogeneous agents were studied under the output saturations
Summary
The consensus problem for multi-agent systems has received a lot of attention since it has wide applications such as formation control [1], and distributed filtering [2], cooperative control [3]. The necessary and sufficient condition for heterogeneous linear agents was studied in [16]. They showed that all agents must have a common internal model such that they can generate the same trajectory. Under this assumption, the observer-based consensus algorithm was constructed via the output regulation approach
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