Saturated input consensus algorithms for perturbed double-integrator systems without velocity measurements

Abstract

This study addresses the consensus problem of perturbed double-integrator systems. Specifically, we propose consensus algorithms for these systems that simultaneously account for input saturation, lack of velocity information, and existence of time-varying external disturbances; in this sense, we extend some of existing results in the literature. The designs have been developed by means of introduction of auxiliary dynamics for each agent. First, we propose a leaderless consensus algorithm and then deal with the leader–follower consensus and consensus with reference velocity. Sufficient control gain conditions and upper bounds of the consensus errors are derived for each case by considering both bidirectional and unidirectional communication topologies. The effectiveness of the algorithms is evaluated through simulation studies.