Robust global consensus tracking of linear multi-agent systems with input saturation via scheduled low-and-high gain feedback

• Published in: IET control theory & applications Vol. 13; no. 1; pp. 69 - 77
• Main Authors: Chu, Hongjun, Chen, Jianliang, Wei, Qinglai, Zhang, Weidong
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 01.01.2019
• Subjects: actuator saturation; actuators; agent dynamics; control system synthesis; disturbance rejection; feedback; general linear systems; input additive uncertainties; input saturation; linear multi‐agent systems; linear systems; multi‐agent systems; multi‐robot systems; network topology; observers; reduced order systems; reduced‐order observer‐based protocol design; Research Article; robust control; robust global consensus tracking; scheduled low‐and‐high gain feedback; state feedback; state feedback protocol; topology; multi-agent systems; disturbance rejection; topology; state feedback protocol; multi-robot systems; control system synthesis; linear systems; input additive uncertainties; linear multi-agent systems; network topology; scheduled low-and-high gain feedback; feedback; robust global consensus tracking; actuators; input saturation; general linear systems; agent dynamics; reduced-order observer-based protocol design; reduced order systems; robust control; state feedback; actuator saturation; observers
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2018.5347

This study deals with the protocol design for achieving robust global consensus tracking of multi-agent systems. Agent dynamics are described as general linear systems with actuator saturation and input additive uncertainties and disturbances. Via developing a scheduled low-and-high gain design technique, the state feedback protocol is proposed, under which global consensus tracking and disturbance rejection for such systems can be achieved under the mild assumptions on agent dynamics and network topology. This result is further extended to the case of the reduced-order observer-based protocol design, with the help of the special coordinate basis approach. Finally, the advantages of the proposed protocols are illustrated by a numerical simulation.