Abstract
We study in this paper a semi-global leader-following output consensus problem for multiple heterogeneous linear systems in the presence of actuator position and rate saturation over a directed topology. For each follower, via the low gain feedback design technique and output regulation theory, both a state feedback consensus protocol and an output feedback consensus protocol are constructed. In the output feedback case, different distributed observers are designed for the informed followers and uninformed followers to estimate the state of the leader and the follower itself. We show that the semi-global leader-following output consensus of heterogeneous linear systems can be achieved by the two consensus protocols if each follower is reachable from the leader in the directed communication topology.
Highlights
1 Introduction Consensus control, a fundamental problem of cooperative control for multi-agent systems, entails the construction of control protocols for every agent so that the states/outputs of all agents converge to an agreement value when there is no leader agent, and the states/outputs of all followers converge to the state/output of the leader if there is one leader
[9] and Han et al [10] focused on the output consensus of heterogeneous linear systems via an output regulation approach
4.1 Semi-global output consensus via state feedback we present simulation results to verify state feedback consensus protocol (9) that solves Problem 1, under Assumptions 1–3 and 5
Summary
A fundamental problem of cooperative control for multi-agent systems, entails the construction of control protocols for every agent so that the states/outputs of all agents converge to an agreement value when there is no leader agent (see Radenkovicand Krstic [1], Wang et al [2], Meng et al [3] and Li et al [4]), and the states/outputs of all followers converge to the state/output of the leader if there is one leader (see Dong et al [5] and Lu and Liu [6]). For a priori given bounded sets X0 ⊂ Rn, V0 ⊂ Rq, W0 ⊂ Rs, X0 ⊂ Rn and W 0 ⊂ RNs, construct an output feedback consensus protocol ui = fi(xi, vi, wi) for each follower, based on the distributed state observers (6)–(8), such that for [ xT(0), vT(0), wT(0), xT(0), w T(0)]T ∈ X0×V0×W0×X0× W 0, the leader-following output consensus is achieved, that is, for any i ∈ F , lim t→∞
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