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Regional Consensus Control for Multi-Agent Systems with Actuator Saturation

Author

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  • Yueyuan Zhang

    (School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China
    Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

  • Yong Qin

    (School of Artificial Intelligence and Smart Manufacturing, Hechi University, Hechi 546300, China)

  • Jun Huang

    (School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China)

  • Lin Yang

    (School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China)

  • Tianjiang Zheng

    (Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology & Engineering, Chinese Academy of Sciences, Ningbo 315201, China)

  • Qingyuan Li

    (School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215131, China)

Abstract

This paper considers the regional consensus problem for multi-agent systems with actuator saturation. By utilizing the theory of convex set, a novel multiple nonlinear feedback control protocol is presented, which can effectively reduce the conservatism in dealing with saturated nonlinear input. In order to obtain a larger estimate on the domain of consensus, the composite Laplacian quadratics function is constructed to derive sufficient conditions for the consensus of multi-agent systems. In addition, an alternative convex hull representation is employed to further enlarge the above-mentioned domain of consensus. Finally, a numerical simulation case study illustrates the validity as well as the superiority of the proposed approaches.

Suggested Citation

  • Yueyuan Zhang & Yong Qin & Jun Huang & Lin Yang & Tianjiang Zheng & Qingyuan Li, 2023. "Regional Consensus Control for Multi-Agent Systems with Actuator Saturation," Mathematics, MDPI, vol. 11(4), pages 1-13, February.
    • Handle: RePEc:gam:jmathe:v:11:y:2023:i:4:p:1038-:d:1072733
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    References listed on IDEAS

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    1. Huang, Jun & Yang, Lin & Trinh, Hieu, 2021. "Robust control for incremental quadratic constrained nonlinear time-delay systems subject to actuator saturation," Applied Mathematics and Computation, Elsevier, vol. 405(C).
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