Semiglobal Robust Consensus of General Linear MASs Subject to Input Saturation and Additive Perturbations

• Published in: IEEE transactions on cybernetics Vol. 53; no. 6; pp. 3806 - 3817
• Main Authors: Yang, Yucheng, Su, Housheng, Zeng, Zhigang, Wang, Xiaoling
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.06.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Additives; Algebraic Riccati equation (ARE); consensus; Control systems design; Controllability; Controllers; Feedback control; H∞ control; Information exchange; Laplace equations; Linear systems; low-gain feedback; Multiagent systems; Output feedback; Perturbation; Protocols; Riccati equation; Riccati equations; Robust control; saturation; Uncertainty
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2021.3125503

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 <inline-formula> <tex-math notation="LaTeX">H_{\infty } </tex-math></inline-formula> 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.