Observer-based adaptive consensus tracking for linear multi-agent systems with input saturation

Hongjun Chu; Jingqi Yuan; Weidong Zhang

Observer-based adaptive consensus tracking for linear multi-agent systems with input saturation

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Author(s): Hongjun Chu ^{1, 2} ; Jingqi Yuan ^{1, 2} ; Weidong Zhang ^{1, 2}
- Affiliations: 1: Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, People's Republic of China ;
  2: Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China
Source: Volume 9, Issue 14, 17 September 2015, p. 2124 – 2131
DOI: 10.1049/iet-cta.2014.1268 , Print ISSN 1751-8644, Online ISSN 1751-8652

Received 26/11/2014, Accepted 02/05/2015, Revised 21/04/2015, Published 10/07/2015

This study considers the observer-based consensus tracking problem of linear multi-agent systems with input saturation. Existing observer-based consensus protocols are designed based on an undirected graph, and need global information, such as the network size or eigenvalue information of the Laplacian matrix. In this study, based on only the agent dynamics and the relative outputs of neighbouring agents, an adaptive consensus protocol is proposed by assigning a time-varying coupling weight to each node, and this protocol is independent of any global information and hence is fully distributed. Under the assumptions that each agent is asymptotically null controllable with bounded controls and detectable, and the topological graph has a directed spanning tree with the leader as the root node, semi-global observer-based consensus tracking of multi-agent systems can be reached despite actuator saturation occurring. The results are applied to consensus tracking control of two-mass-spring systems, which are well-known models for vibration in many mechanical systems.

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