Event-Triggered Consensus of Matrix-Weighted Networks Subject to Actuator Saturation

• Published in: IEEE transactions on network science and engineering Vol. 10; no. 1; pp. 463 - 476
• Main Authors: Pan, Lulu, Shao, Haibin, Li, Yuanlong, Li, Dewei, Xi, Yugeng
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.01.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator saturation; Actuators; bearing-only formation; Behavioral sciences; Closed loops; event-triggered mechanism; global consensus; Laplace equations; largest singular value; matrix-weighted networks; Multi-agent systems; Multiagent systems; Networks; Protocol; Protocols; Saturation; Simulation; Symmetric matrices; System effectiveness
• ISSN: 2327-4697; 2334-329X
• DOI: 10.1109/TNSE.2022.3212773

This paper examines the event-triggered global consensus of matrix-weighted networks subject to actuator saturation. A distributed protocol design is proposed for this category of networks to guarantee its global consensus subject to both event-triggered communication and actuator saturation. It is shown that the largest singular value of matrix-valued edge weights plays a crucial role in both protocol design and network performance, which renders the proposed framework more general than existing results that are only applicable to scalar-weighted networks. Conditions under which the global consensus can be guaranteed for leaderless matrix-weighted multi-agent networks are derived. However, the average consensus on the initial agents' states cannot be achieved due to the nonlinearities introduced in the closed-loop dynamics by the actuator saturation constraint. We further examine the scenario of leader-follower consensus for matrix-weighted multi-agent networks under the constraints of both event-triggered communication and actuator saturation. The applicability of the proposed protocol design framework to time-varying matrix-weighted networks is also examined. It is shown that the Zeno phenomenon can be excluded under the proposed interaction protocols. Simulation results in the context of the bearing-only cooperative formation of multi-vehicle systems are provided to demonstrate the effectiveness of theoretical results.