Passivity based state synchronization of homogeneous multi-agent systems via static protocol in presence of input saturation

This paper studies semi-global and global state synchronization of homogeneous multi-agent systems (MAS) with partial-state coupling via a static protocol in the presence of input saturation. We consider two classes of agents, $\boldsymbol{G}$-passive and $\boldsymbol{G}$-passifiable via input feedforward, for which a static linear protocol can be designed. For semi-global stabilization we consider directed networks which contain a directed spanning tree. For global stabilization we consider strongly connected networks which are detailed balanced.

[1]  Guoqiang Hu,et al.  Passivity-based consensus and passification for a class of stochastic multi-agent systems with switching topology , 2012, 2012 12th International Conference on Control Automation Robotics & Vision (ICARCV).

[2]  Wei Wei,et al.  Consensus problems for linear time-invariant multi-agent systems with saturation constraints , 2011 .

[3]  Housheng Su,et al.  Multi-agent containment control with input saturation on switching topologies , 2015 .

[4]  Manuel Mazo,et al.  Simple synchronization protocols for heterogeneous networks: beyond passivity (extended version) , 2017, ArXiv.

[5]  Ziyang Meng,et al.  On global leader-following consensus of identical linear dynamic systems subject to actuator saturation , 2013, Syst. Control. Lett..

[6]  Guanrong Chen,et al.  An overview of coordinated control for multi-agent systems subject to input saturation☆ , 2016 .

[7]  Guanrong Chen,et al.  Robust semi‐global coordinated tracking of linear multi‐agent systems with input saturation , 2015 .

[8]  John T. Wen,et al.  Cooperative Control Design - A Systematic, Passivity-Based Approach , 2011, Communications and control engineering.

[9]  Panos J. Antsaklis,et al.  Output Synchronization of Networked Passive Systems With Event-Driven Communication , 2014, IEEE Transactions on Automatic Control.

[10]  Daizhan Cheng,et al.  Synchronisation of a class of networked passive systems with switching topology , 2009, Int. J. Control.

[11]  Ali Saberi,et al.  Synchronization in networks of minimum-phase, non-introspective agents without exchange of controller states: Homogeneous, heterogeneous, and nonlinear , 2015, Autom..

[12]  Magnus Egerstedt,et al.  Graph Theoretic Methods in Multiagent Networks , 2010, Princeton Series in Applied Mathematics.

[13]  Xiaoming Hu,et al.  Synchronization of a class of networked passive systems with switching topology , 2007, 2007 46th IEEE Conference on Decision and Control.

[14]  Haibo Jiang,et al.  Impulsive output consensus of networked passive systems , 2015 .

[15]  Jun Zhao,et al.  Passivity-based output synchronization of dynamical networks with non-identical nodes , 2010, 49th IEEE Conference on Decision and Control (CDC).

[16]  Yongcan Cao,et al.  Distributed Coordination of Multi-agent Networks , 2011 .

[17]  J D Doyle,et al.  Robust Control of Multivariable and Large Scale Systems. , 1985 .

[18]  Frank L. Lewis,et al.  Cooperative Control of Multi-Agent Systems: Optimal and Adaptive Design Approaches , 2013 .

[19]  David J. Hill,et al.  Passivity-based control and synchronization of general complex dynamical networks , 2009, Autom..

[20]  Michael Z. Q. Chen,et al.  Observer-based semi-global consensus of discrete-time multi-agent systems with input saturation , 2016 .

[21]  Lin Huang,et al.  Consensus of Multiagent Systems and Synchronization of Complex Networks: A Unified Viewpoint , 2016, IEEE Transactions on Circuits and Systems I: Regular Papers.

[22]  Alexander Fradkov.  Passification of nonsquare linear systems , 2001, 2001 European Control Conference (ECC).

[23]  Kiyotsugu Takaba,et al.  A dynamic protocol for local synchronization of linear multi-agent systems subject to input saturation , 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

[24]  Ziyang Meng,et al.  Global consensus for discrete-time multi-agent systems with input saturation constraints , 2014, Autom..

[25]  He Bai,et al.  Synchronization under space and time-dependent heterogeneities , 2015, Autom..

[26]  W. Zhang,et al.  Observer-based adaptive consensus tracking for linear multi-agent systems with input saturation , 2015 .

[27]  Meirong Zhang,et al.  Passivity‐based state synchronization of homogeneous multiagent systems via static protocol in the presence of input saturation , 2018 .

[28]  James Lam,et al.  Semi-Global Leader-Following Consensus of Linear Multi-Agent Systems With Input Saturation via Low Gain Feedback , 2013, IEEE Transactions on Circuits and Systems I: Regular Papers.

[29]  Frank Allgöwer,et al.  Consensus reaching in multi-agent packet-switched networks with non-linear coupling , 2009, Int. J. Control.

[30]  Housheng Su,et al.  Semi-global containment control of multi-agent systems with intermittent input saturation , 2015, J. Frankl. Inst..

[31]  Nikhil Chopra,et al.  Output Synchronization on Strongly Connected Graphs , 2012, IEEE Transactions on Automatic Control.

[32]  Gene H. Golub,et al.  Matrix computations , 1983 .

[33]  Tian Xia,et al.  Synchronization of linear time-invariant systems on rooted graphs , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[34]  Ali Saberi,et al.  Control of open‐loop neutrally stable systems subject to actuator saturation and external disturbances , 2013 .

[35]  Chai Wah Wu,et al.  Synchronization in Complex Networks of Nonlinear Dynamical Systems , 2008 .

[36]  Alexander L. Fradkov,et al.  Synchronization in networks of linear agents with output feedbacks , 2011 .