Distributed impulsive consensus of nonlinear multi-agent systems with input saturation

This paper investigates the leader-follower exponential consensus problem of a class of Lipschitz nonlinear multi-agent systems (MASs) with input saturation. Since each agent has nonlinear dynamics, the system is not asymptotically null controllable with bounded controls. Therefore, the widely-used low-gain feedback method for designing consensus protocols of MASs with input saturation can no longer work. Taking advantage of the stability theory of impulsive systems and features of the Laplacian matrix, and combining the properties of convex hull, a distributed impulsive consensus protocol is proposed. Still, the shape reference set is introduced to assess the attraction domain of leader–follower MASs. Finally, a numerical experiment validates the effectiveness of the proposed anti-saturation impulsive consensus algorithm.

[1]  Tingshu Hu,et al.  An analysis and design method for linear systems subject to actuator saturation and disturbance , 2002, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[2]  Zhong-Ping Jiang,et al.  Event-based consensus of multi-agent systems with general linear models , 2014, Autom..

[3]  A. Fuller.  In-the-large stability of relay and saturating control systems with linear controllers , 1969 .

[4]  Shaocheng Tong,et al.  Composite Adaptive Fuzzy Output Feedback Control Design for Uncertain Nonlinear Strict-Feedback Systems With Input Saturation , 2015, IEEE Transactions on Cybernetics.

[5]  Guanrong Chen,et al.  Some necessary and sufficient conditions for consensus of second-order multi-agent systems with sampled position data , 2016, Autom..

[6]  Zongyu Zuo,et al.  Distributed robust finite-time nonlinear consensus protocols for multi-agent systems , 2016, Int. J. Syst. Sci..

[7]  Feng Qian,et al.  Network-based leader-following consensus of nonlinear multi-agent systems via distributed impulsive control , 2017, Inf. Sci..

[8]  Bo Zhou,et al.  Event‐Based Semiglobal Consensus of Homogenous Linear Multi‐Agent Systems Subject to Input Saturation , 2017 .

[9]  Matthew C. Turner,et al.  Antiwindup for stable linear systems with input saturation: an LMI-based synthesis , 2003, IEEE Trans. Autom. Control..

[10]  Yang Tang,et al.  Sampled-Data Consensus of Linear Multi-agent Systems With Packet Losses , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[11]  Lihua Xie,et al.  Distributed Consensus With Limited Communication Data Rate , 2011, IEEE Transactions on Automatic Control.

[12]  Yiguang Hong,et al.  Semi‐global output consensus of a group of linear systems in the presence of external disturbances and actuator saturation: An output regulation approach , 2016 .

[13]  Mengyin Fu,et al.  Consensus of Multi-Agent Systems With General Linear and Lipschitz Nonlinear Dynamics Using Distributed Adaptive Protocols , 2011, IEEE Transactions on Automatic Control.

[14]  Jinde Cao,et al.  Event-Triggered Schemes on Leader-Following Consensus of General Linear Multiagent Systems Under Different Topologies , 2017, IEEE Transactions on Cybernetics.

[15]  Shaocheng Tong,et al.  Fuzzy Adaptive Control With State Observer for a Class of Nonlinear Discrete-Time Systems With Input Constraint , 2016, IEEE Transactions on Fuzzy Systems.

[16]  Sung Jin Yoo,et al.  Distributed consensus tracking of a class of asynchronously switched nonlinear multi-agent systems , 2018, Autom..

[17]  Zhi-Hong Guan,et al.  Guaranteed performance consensus in second-order multi-agent systems with hybrid impulsive control , 2014, Autom..

[18]  H. Sussmann,et al.  On the stabilizability of multiple integrators by means of bounded feedback controls , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[19]  Javad Lavaei,et al.  Quantized Consensus by Means of Gossip Algorithm , 2012, IEEE Transactions on Automatic Control.

[20]  Guanrong Chen,et al.  Pinning Control of Lag-Consensus for Second-Order Nonlinear Multiagent Systems , 2017, IEEE Transactions on Cybernetics.

[21]  Yu-Ping Tian,et al.  Maximum Allowable Loss Probability for Consensus of Multi-Agent Systems Over Random Weighted Lossy Networks , 2012, IEEE Transactions on Automatic Control.

[22]  Huijun Gao,et al.  A Sufficient Condition for Convergence of Sampled-Data Consensus for Double-Integrator Dynamics With Nonuniform and Time-Varying Communication Delays , 2012, IEEE Transactions on Automatic Control.

[23]  Guang-Hong Yang,et al.  Adaptive synchronization of master-slave large-scale systems against bias actuators and network attenuations , 2012 .

[24]  Yunpeng Wang,et al.  Seeking Consensus in Networks of Linear Agents: Communication Noises and Markovian Switching Topologies , 2015, IEEE Transactions on Automatic Control.

[25]  Stephen P. Boyd,et al.  Analysis of linear systems with saturation using convex optimization , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[26]  Jinde Cao,et al.  Second-order consensus in multi-agent dynamical systems with sampled position data , 2011, Autom..

[27]  Zongli Lin,et al.  Semi-global Exponential Stabilization of Linear Systems Subject to \input Saturation" via Linear Feedbacks , 1993 .

[28]  Yan-Wu Wang,et al.  Impulsive Multisynchronization of Coupled Multistable Neural Networks With Time-Varying Delay , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[29]  Sophie Tarbouriech,et al.  Antiwindup design with guaranteed regions of stability: an LMI-based approach , 2005, IEEE Transactions on Automatic Control.

[30]  Tingshu Hu,et al.  Control Systems with Actuator Saturation: Analysis and Design , 2001 .

[31]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[32]  Jing Zhou,et al.  Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation and External Disturbance , 2011, IEEE Transactions on Automatic Control.