Distributed Antiwindup Consensus Control of Heterogeneous Multiagent Systems Over Markovian Randomly Switching Topologies

• 成果类型: Article
• 署名作者: Wang, Jingyao; Wen, Guanghui; Duan, Zhisheng
• 署名单位: Xiamen University; Southeast University - China; Peking University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3184053
• 发表日期: 2022
• 页码: 6310-6317
• 关键词: Switches; TOPOLOGY; Consensus control; Consensus protocol; Vehicle dynamics; Multi-agent systems; Eigenvalues and eigenfunctions; heterogeneous multiagent systems (MASs); input saturation; output consensus; randomly switching topologies

摘要

The consensus control of multiagent systems (MASs) over randomly switching communication topologies has drawn increasing attention from researchers, since the mean square consensus or the most surely consensus is significant and practical. This manuscript focuses on the output consensus problem for heterogeneous MASs with input saturation constraints over the Markovian randomly switching topologies. The main challenge of solving the concerned problem lies in the interplay among the heterogeneous dynamics, input saturation constraints and the Markovian randomly switching topologies. To overcome such a challenge, a class of distributed adaptive observers is first designed for all agents to deal with the uncertainty caused by the randomly switching topologies. Then, a class of local state observers is presented for estimating each agent's state information. Based on the above steps, a class of antiwindup controllers is constructed and the control gain matrices are selected using only the dynamics information of each node. Finally, the effectiveness of the consensus protocol is demonstrated.