Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints

doi:10.1007/s12204-020-2183-2

Journal of Shanghai Jiao Tong University (Science) ›› 2020, Vol. 25 ›› Issue (3): 288-298.doi: 10.1007/s12204-020-2183-2

Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints

WANG Jian (王健), SHI Liangren (时良仁)

(a. Department of Automation; b. Key Laboratory of System Control and Information Processing of Ministry of Education; c. Shanghai Key Laboratory of Navigation and Location-Based Services; d. Academy of Information Technology and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China)

出版日期:2020-06-15 发布日期:2020-05-29
通讯作者: SHI Liangren (时良仁) E-mail:shiliangrenmail@126.com

Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints

WANG Jian (王健), SHI Liangren (时良仁)

(a. Department of Automation; b. Key Laboratory of System Control and Information Processing of Ministry of Education; c. Shanghai Key Laboratory of Navigation and Location-Based Services; d. Academy of Information Technology and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China)

Online:2020-06-15 Published:2020-05-29
Contact: SHI Liangren (时良仁) E-mail:shiliangrenmail@126.com

摘要/Abstract

摘要： This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks. Two kinds of consensus problems, of the leaderless consensus problem with no leader agent and the containment control problem with multiple leader agents, are investigated in this paper. Low gain feedback consensus algorithms based on the improved discretetime parametric algebraic Riccati equation (ARE) are proposed to solve the consensus problems. For the MAS without any leader, the trajectories of all agents converge together when the communication networks contain a directed spanning tree. For the MAS with multiple leaders, the trajectories of all follower agents converge to the convex hull spanned by the leader agents when there is at least one leader agent which is trackable for each follower agent. Simulation examples are provided to verify the theoretical results.

关键词: leaderless consensus, containment control, discrete-time, low gain, input saturation

Abstract: This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks. Two kinds of consensus problems, of the leaderless consensus problem with no leader agent and the containment control problem with multiple leader agents, are investigated in this paper. Low gain feedback consensus algorithms based on the improved discretetime parametric algebraic Riccati equation (ARE) are proposed to solve the consensus problems. For the MAS without any leader, the trajectories of all agents converge together when the communication networks contain a directed spanning tree. For the MAS with multiple leaders, the trajectories of all follower agents converge to the convex hull spanned by the leader agents when there is at least one leader agent which is trackable for each follower agent. Simulation examples are provided to verify the theoretical results.

Key words: leaderless consensus, containment control, discrete-time, low gain, input saturation

中图分类号:

TP 301

WANG Jian, SHI Liangren. Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints[J]. Journal of Shanghai Jiao Tong University (Science), 2020, 25(3): 288-298.

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Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints

Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints

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