Observer-based Distributed Consensus Algorithm for Multi-agent Systems with Output Saturations

This study investigates the problem of leader-following consensus for multi-agent systems with output saturations. This study assumes that the agents are described as a neutrally stable system, and the leader agent generates the bounded trajectory within the saturation level. Then, the objective of...

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Bibliographic Details
Published inJournal of information and communication convergence engineering Vol. 17; no. 3; pp. 167 - 173
Main Authors Lim, Young-Hun, Lee, Gwang-Seok
Format Journal Article
LanguageKorean
Published 2019
Subjects
Multi-agent system
Output saturation
Distributed algorithm
Consensus
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Summary:This study investigates the problem of leader-following consensus for multi-agent systems with output saturations. This study assumes that the agents are described as a neutrally stable system, and the leader agent generates the bounded trajectory within the saturation level. Then, the objective of the leader-following consensus is to track the trajectory of the leader by exchanging information with neighbors. To solve this problem, we propose an observer-based distributed consensus algorithm. Then, we provide a consensus analysis by applying the Lyapunov stability theorem and LaSalle's invariance principle. The result shows that the agents achieve the leader-following consensus in a global sense. Moreover, we can achieve the consensus by choosing any positive control gain. Finally, we perform a numerical simulation to demonstrate the validity of the proposed algorithm.
Bibliography:KISTI1.1003/JNL.JAKO201929165026330
ISSN:2234-8255
2234-8883