Leader-following Consensus of Multi-agent Systems via a Hybrid Protocol with Saturation Effects

In this paper, a hybrid protocol which can control multi-agent systems to achieve “leader-following consensus” is proposed, the control protocol is periodic and is composed of continuous control and impulse control. Considering the power limitation and the time error of the actual industrial production equipments, the impulse saturation effects and the impulse time window are introduced. In this paper, the multi-agent system is modeled, one of the agents is designated as the leader, and the rest of the agents are the followers. Then the error system equations of the multi-agent system is derived. The stability of the error system is analyzed by constructing the Lyapunov function. Theorem 1 and theorem 2 are obtained as the criteria of state consensus of the multi-agent system. Finally, a numerical experiment is carried out to verify the reliability and efficiency of the conclusions are given in this paper. Because it takes into account the impulse time window and impulse saturation effects, which is more in line with the actual industrial production.

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