Semiglobal Leader-Following Output Consensus of Discrete-Time Heterogeneous Linear Systems Subject to Actuator Position and Rate Saturation

• 成果类型: Article
• 署名作者: Zhou, Panpan; Chen, Ben M.
• 署名单位: Chinese University of Hong Kong
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3216977
• 发表日期: 2023
• 页码: 1231-1236
• 关键词: actuators; Linear systems; Eigenvalues and eigenfunctions; observers; regulation; Multi-agent systems; Feedback control; Actuator position and rate saturation; low gain feedback; multiagent systems; output regulation

摘要

Motivated by the fact that physical systems are usually subject to actuator position and rate saturation, we consider in this article the semiglobal leader-following output consensus problem of a group of discrete-time heterogeneous linear systems with position and rate-limited actuators by output feedback control law. Distributed observers are designed for followers to estimate the state of the leader and the follower itself, based on which a novel distributed control law is proposed. We show that, via the low gain feedback design technique and output regulation theory, the semiglobal leader-following output consensus of discrete-time heterogeneous linear systems can be achieved by the consensus protocol if each follower is reachable from the leader in a directed communication topology.