Observer-based adaptive consensus tracking for linear multi-agent systems with input saturation

• Published in: IET control theory & applications Vol. 9; no. 14; pp. 2124 - 2131
• Main Authors: Chu, Hongjun, Yuan, Jingqi, Zhang, Weidong
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 17.09.2015
• Subjects: adaptive consensus protocol; adaptive control; Asymptotic properties; Brief Papers; directed spanning tree; Eigenvalues; Graphs; input saturation; Laplacian matrix; linear multi‐agent systems; linear systems; mass‐spring systems; matrix algebra; Mechanical systems; Multiagent systems; multi‐agent systems; observers; observer‐based adaptive consensus tracking problem; observer‐based consensus protocols; Protocol (computers); Saturation; semi‐global observer‐based consensus tracking; springs (mechanical); time‐varying coupling weight; topological graph; Tracking; trees (mathematics); undirected graph; vibration control; springs (mechanical); multi-agent systems; trees (mathematics); adaptive control; linear systems; topological graph; linear multi-agent systems; matrix algebra; mass-spring systems; directed spanning tree; observer-based consensus protocols; input saturation; semi-global observer-based consensus tracking; observer-based adaptive consensus tracking problem; Laplacian matrix; time-varying coupling weight; undirected graph; adaptive consensus protocol; observers; vibration control
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2014.1268

This study considers the observer-based consensus tracking problem of linear multi-agent systems with input saturation. Existing observer-based consensus protocols are designed based on an undirected graph, and need global information, such as the network size or eigenvalue information of the Laplacian matrix. In this study, based on only the agent dynamics and the relative outputs of neighbouring agents, an adaptive consensus protocol is proposed by assigning a time-varying coupling weight to each node, and this protocol is independent of any global information and hence is fully distributed. Under the assumptions that each agent is asymptotically null controllable with bounded controls and detectable, and the topological graph has a directed spanning tree with the leader as the root node, semi-global observer-based consensus tracking of multi-agent systems can be reached despite actuator saturation occurring. The results are applied to consensus tracking control of two-mass-spring systems, which are well-known models for vibration in many mechanical systems.