Multiple Lyapunov Functions Approach for Consensus of One-Sided Lipschitz Multi-Agents Over Switching Topologies and Input Saturation

This brief investigates the leader-based consensus of one-sided Lipschitz (OSL) multi-agents under switching graphs and input saturation. By using the local design approach and multiple Lyapunov functions (MLFs), a novel condition for the consensus in nonlinear agents is provided by accomplishing guaranteed local stability. The notion of the average dwell time (ADT) has been applied for dealing with the switching topologies, which relaxes the classical dwell time restriction for switching instances. In contrast to the classical methods, both input saturation and switching topologies, representing a complicated and more meaningful consensus control scenario, are considered for nonlinear agents. The conservatism in existing methods for OSL agents has been overcome owing to the utilization of MLFs and ADT. Simulation results for eight mobile agents are provided to show the effectiveness of our consensus protocol.

[1]  Michel Zasadzinski,et al.  Exponential Observer for a Class of One-Sided Lipschitz Stochastic Nonlinear Systems , 2015, IEEE Transactions on Automatic Control.

[2]  Weidong Zhang,et al.  Observer-based consensus tracking of multi-agent systems with one-sided Lipschitz nonlinearity , 2016, J. Frankl. Inst..

[3]  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.

[4]  M. Abbaszadeh,et al.  Nonlinear observer design for one-sided Lipschitz systems , 2010, Proceedings of the 2010 American Control Conference.

[5]  Muhammad Rehan,et al.  On observer-based control of one-sided Lipschitz systems , 2016, J. Frankl. Inst..

[6]  Yu-Ping Tian,et al.  Asynchronous distributed localization in networks with communication delays and packet losses , 2018, Autom..

[7]  Zongli Lin,et al.  Distributed Semiglobal Consensus With Relative Output Feedback and Input Saturation Under Directed Switching Networks , 2015, IEEE Transactions on Circuits and Systems II: Express Briefs.

[8]  Reza Olfati-Saber,et al.  Consensus and Cooperation in Networked Multi-Agent Systems , 2007, Proceedings of the IEEE.

[9]  Guanghui Wen,et al.  Consensus Tracking of Multi-Agent Systems With Lipschitz-Type Node Dynamics and Switching Topologies , 2014, IEEE Transactions on Circuits and Systems I: Regular Papers.

[10]  E.M. Atkins,et al.  A survey of consensus problems in multi-agent coordination , 2005, Proceedings of the 2005, American Control Conference, 2005..

[11]  Randal W. Beard,et al.  Consensus seeking in multiagent systems under dynamically changing interaction topologies , 2005, IEEE Transactions on Automatic Control.

[12]  James Lam,et al.  Semiglobal Observer-Based Leader-Following Consensus With Input Saturation , 2014, IEEE Transactions on Industrial Electronics.

[13]  Guanghui Wen,et al.  Consensus Tracking of Multi-Agent Systems With Directed Switching Topology: A Multiple Lyapunov Functions Method , 2018, 2018 IEEE International Symposium on Circuits and Systems (ISCAS).

[14]  Guanghui Wen,et al.  On Constructing Multiple Lyapunov Functions for Tracking Control of Multiple Agents With Switching Topologies , 2019, IEEE Transactions on Automatic Control.

[15]  Choon Ki Ahn,et al.  Consensus of One-Sided Lipschitz Multi-Agents Under Input Saturation , 2020, IEEE Transactions on Circuits and Systems II: Express Briefs.

[16]  Muhammad Rehan,et al.  Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagent Systems , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[17]  Muhammad Tufail,et al.  Consensus of One-Sided Lipschitz Multiagents Under Switching Topologies , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[18]  Jiuxiang Dong,et al.  Controller synthesis for one-sided Lipschitz Markovian jump systems with partially unknown transition probabilities , 2017 .

[19]  Zhisheng Duan,et al.  Cooperative Control of Multi-Agent Systems: A Consensus Region Approach , 2014 .

[20]  Muhammad Rehan,et al.  Adaptive Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagents , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[21]  Wenwu Yu,et al.  An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination , 2012, IEEE Transactions on Industrial Informatics.