Observer-Based Robust Coordinated Control of Multiagent Systems With Input Saturation

• Published in: IEEE transaction on neural networks and learning systems Vol. 29; no. 5; pp. 1933 - 1946
• Main Authors: Wang, Xiaoling, Su, Housheng, Chen, Michael Z. Q., Wang, Xiaofan
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.05.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Additives; Computer simulation; Control systems; Input additive disturbance; input saturation; Laplace equations; low-and-high-gain feedback technique; Multi-agent systems; multiagent system; Multiagent systems; observer-based protocol; Observers; Parameters; Protocols; Robust control; Robustness; Robustness (mathematics); Saturation
• ISSN: 2162-237X; 2162-2388
• DOI: 10.1109/TNNLS.2017.2690322

This paper addresses the robust semiglobal coordinated control of multiple-input multiple-output multiagent systems with input saturation together with dead zone and input additive disturbance. Observer-based coordinated control protocol is constructed, by combining the parameterized low-and-high-gain feedback technique and the high-gain observer design approach. It is shown that, under some mild assumptions on agents' intrinsic dynamics, the robust semiglobal consensus or robust semiglobal swarm can be approached for undirected connected multiagent systems. Then, specific guidelines on the selection of the low-gain parameter, the high-gain parameter, and the high-gain observer gain have been provided. At last, numerical simulations are presented to illustrate the theoretical results.