Semiglobal Robust Consensus of General Linear MASs Subject to Input Saturation and Additive Perturbations
| Autor: | Xiaoling Wang, Zhigang Zeng, Housheng Su, Yucheng Yang |
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| Rok vydání: | 2023 |
| Předmět: |
Protocol (science)
Computer science Diagonalizable matrix Computer Science Applications Algebraic Riccati equation Computer Science::Multiagent Systems Human-Computer Interaction Consensus Null (SQL) Control and Systems Engineering Control theory Bounded function Electrical and Electronic Engineering Laplacian matrix Software Information Systems |
| Zdroj: | IEEE Transactions on Cybernetics. 53:3806-3817 |
| ISSN: | 2168-2275 2168-2267 |
| Popis: | This article considers the robust consensus problem of the general linear multiagent system (MAS) subject to both heterogeneous additive stable disturbances and input saturation. Distributed low gain feedback-based dynamic output feedback control protocols are proposed, which do not need the controller interaction. Algebraic Riccati equation and unified $H_{∞}$ controller design method are employed to design the output feedback control protocols. It is established that under the assumption that each agent is asymptotically null controllable with bounded controls, semiglobal robust consensus can always be reached under the proposed controller. Furthermore, the design method specialized for leader-following consensus is addressed, under the assumption that the Laplacian matrix is diagonalizable, one can design the control protocol only with the number of follower agents. Finally, several simulations are provided to show the effectiveness of our results. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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