Research on Consensus of Multi-agent System Under Saturation Constrained Impulse Control

Abstract

This paper mainly analyzes and studies the impulse consensus of nonlinear time-delay multi-agent systems under communication constraints. Firstly, considering the inherent attribute of the actuator -- each agent communication channel is finite, the control protocol design considers the global input saturation constraint and introduces the general case that the upper and lower bounds of saturation constraint are ±1. Secondly, due to the complexity of the real communication environment, it is often difficult for the agent to ensure real-time and continuous communication in the communication process, so this paper mainly considers the impulse control method in the discontinuous control. In addition, when the communication environment of the agent is complex, time delay is also a common phenomenon, so the nonlinear system with time delay is studied in this paper. Based on Lyapunov theory, convex hull theory and other theoretical methods, the sufficient conditions to ensure the lead-following consensus of multi-agent systems are given in view of the above saturated constraints. Finally, the correctness and effectiveness of the proposed method are verified by a simulation example.