Second-order consensus for heterogeneous multi-agent systems with input constraints

被引：20
|
作者：
Yin, Yanyan [1 ]
Shi, Yi [2 ]
Liu, Fei [2 ]
Teo, Kok Lay [1 ]
Wang, Song [1 ]
机构：
[1] Curtin Univ, Dept Math & Stat, GPO Box U1987, Perth, WA 6845, Australia
[2] Jiangnan Univ, Inst Automat, Minist Educ, Key Lab Adv Proc Control Light Ind, Wuxi 214122, Peoples R China
来源：
NEUROCOMPUTING | 2019年 / 351卷
基金：
中国国家自然科学基金; 澳大利亚研究理事会;
关键词：
Multi-agent system; Heterogeneous system; Consensus; Input saturation; NETWORKS; TRACKING;
D O I：
10.1016/j.neucom.2019.03.030
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the consensus for second-order heterogeneous multi-agent system is investigated. The heterogeneous system consists of linear and nonlinear second-order agents, where the nonlinear agents are still with different structures. First, the consensus of the system with and without a static leader is discussed, respectively. Then, we consider a general case where the inputs of linear second-order agents are bounded by virtue of the limitation of the actuators. Effective control protocols to achieve consensus are presented for these cases. Based on graph theory and Lyapunov stability theory, sufficient conditions are established for the consensus of heterogeneous system, where the communication topology is undirected and connected. Finally, several numerical examples are presented to verify the validity of the developed method. (C) 2019 Elsevier B.V. All rights reserved.
引用
收藏
页码：43 / 50
页数：8
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